Control and scheduling codesign : flexible resource management in real-time control systems

With emphasis on flexible resource management in networked and embedded real-time control systems operating in dynamic environments with uncertainty, this book is devoted to the integration of control with computing and communication. It covers the authors' recent and original research results within a unified framework of feedback scheduling. This useful reference also includes rich example problems, case studies, and extensive references to the literature.

Part I Background
Chapter 1 Overview	p. 3
1.1 Real-Time Control Systems	p. 3
1.2 Convergence of Computing, Communication and Control	p. 7
1.3 Integrated Control and Computing	p. 11
1.3.1 Control of Computing Systems	p. 11
1.3.2 Embedded Control Systems	p. 16
1.4 Integrated Control and Communication	p. 20
1.4.1 Control of Networks	p. 20
1.4.2 Networked Control Systems	p. 22
1.4.3 Wireless Control Systems	p. 24
1.5 Perspective on Feedback Scheduling	p. 25
References	p. 28
Chapter 2 Introduction to Feedback Scheduling	p. 42
2.1 Fundamentals of Sampled-Data Control	p. 42
2.1.1 Architecture	p. 43
2.1.2 Design Methods	p. 45
2.1.3 Quality of Control	p. 47
2.2 Scheduling in Real-Time Systems	p. 48
2.2.1 Real-Time Computing	p. 48
2.2.2 Real-Time Communication	p. 52
2.3 Control Loop Timing	p. 56
2.3.1 Delay and Its Jitter	p. 57
2.3.2 Sampling Period and Its Jitter	p. 59
2.3.3 Data Loss	p. 60
2.4 Motivating Examples	p. 61
2.5 Feedback Scheduling	p. 66
2.5.1 Basic Framework	p. 66
2.5.2 Design Issues	p. 67
2.6 Summary	p. 69
References	p. 70
Part II CPU Scheduling
Chapter 3 Neural Feedback Scheduling	p. 77
3.1 Introduction	p. 77
3.2 Optimal Feedback Scheduling	p. 79
3.2.1 Problem Formulation	p. 79
3.2.2 Mathematical Optimization Methods	p. 81
3.3 Neural Feedback Scheduling Scheme	p. 82
3.3.1 Design Methodology	p. 83
3.3.2 Complexity Analysis	p. 85
3.4 Performance Evaluation	p. 87
3.4.1 Setup Overview	p. 87
3.4.2 Neural Feedback Scheduler Design	p. 89
3.4.3 Results and Analysis	p. 90
3.5 Summary	p. 96
References	p. 98
Chapter 4 Fuzzy Feedback Scheduling	p. 100
4.1 Introduction	p. 100
4.2 Problem Description	p. 103
4.3 Framework	p. 104
4.3.1 Alternative System Architectures	p. 104
4.3.2 Basic Flow of the Algorithm	p. 106
4.4 Fuzzy Feedback Scheduler Design	p. 107
4.4.1 A Case Study	p. 107
4.4.2 Design Methodology	p. 108
4.4.3 Design Considerations	p. 113
4.5 Simulation Experiments	p. 115
4.5.1 Setup Overview	p. 115
4.5.2 Results and Analysis	p. 117
4.6 Summary	p. 123
References	p. 124
Part III Energy Management
Chapter 5 Energy-Aware Feedback Scheduling	p. 129
5.1 Introduction	p. 129
5.1.1 Motivation	p. 131
5.1.2 Contributions	p. 132
5.2 Problem Statement	p. 133
5.2.1 System Model	p. 133
5.2.2 Energy Model	p. 134
5.3 Energy-Aware Feedback Control Scheduling	p. 135
5.3.1 Basic Idea	p. 135
5.3.2 Modelling	p. 136
5.3.3 Feedback Scheduler Design	p. 138
5.4 Simulation Experiments	p. 141
5.4.1 Setup Overview	p. 141
5.4.2 Results and Analysis	p. 142
5.5 Summary	p. 151
References	p. 151
Chapter 6 Enhanced Energy-Aware Feedback Scheduling	p. 154
6.1 Introduction	p. 154
6.2 Optimal Pure Dynamic Voltage Scaling	p. 157
6.3 Motivating Examples	p. 158
6.3.1 Energy Consumption with Different Sampling Periods	p. 158
6.3.2 QoC with Variable Sampling Period	p. 158
6.4 Enhanced Energy-Aware Feedback Scheduling	p. 160
6.4.1 Framework	p. 160
6.4.2 Period Adjustment Algorithms	p. 162
6.4.3 Performance Analysis	p. 165
6.4.4 Handling Discrete Voltage Levels	p. 167
6.5 Performance Evaluation	p. 168
6.5.1 Experiment I: Different Schemes	p. 170
6.5.2 Experiment II: Different Design Parameters	p. 176
6.5.3 Experiment III: Different Perturbation Intervals	p. 177
6.5.4 Experiment IV: Discrete Voltage Levels	p. 179
6.6 Summary	p. 182
References	p. 183
Part IV Bandwidth Allocation
Chapter 7 Integrated Feedback Scheduling	p. 187
7.1 Introduction	p. 187
7.1.1 Motivation	p. 188
7.1.2 Contributions	p. 189
7.2 Problem Statement	p. 190
7.2.1 System Model	p. 190
7.2.2 Control Network Scheduling	p. 191
7.3 Integrated Feedback Scheduling	p. 193
7.3.1 Architecture	p. 193
7.3.2 Period Adjustment	p. 195
7.3.3 Priority Modification	p. 198
7.3.4 Design Considerations	p. 200
7.4 Performance Evaluation	p. 201
7.4.1 Scenario I: Underload	p. 202
7.4.2 Scenario II: Overload	p. 206
7.5 Summary	p. 212
References	p. 213
Chapter 8 Cross-Layer Adaptive Feedback Scheduling	p. 216
8.1 Introduction	p. 216
8.1.1 Motivation	p. 217
8.1.2 Contributions	p. 218
8.2 System Model	p. 219
8.2.1 Dealing with Deadline Misses	p. 221
8.2.2 A Case Study	p. 222
8.3 Cross-Layer Adaptive Feedback Scheduling	p. 223
8.3.1 Cross-Layer Design Methodology	p. 223
8.3.2 Analysis of Deadline Misses in WLAN	p. 224
8.3.3 Adaptive Feedback Scheduling Algorithm	p. 226
8.4 Event-Triggered Invocation	p. 230
8.5 Simulation Experiments	p. 232
8.5.1 Experiment I: Adaptive Feedback Scheduling vs. Traditional Design Method	p. 233
8.5.2 Experiment II: Event-Triggered vs. Time-Triggered	p. 236
8.6 Summary	p. 241
References	p. 242
Index	p. 244

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