Real-time control systems: feedback, scheduling and robustness

Daniel Simon 1 Alexandre Seuret 2 Olivier Sename 3
1 CAMIN - Control of Artificial Movement and Intuitive Neuroprosthesis
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée
2 LAAS-MAC - Équipe Méthodes et Algorithmes en Commande
LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]
3 GIPSA-SLR - SLR
GIPSA-DA - Département Automatique
Abstract : The efficient control of real-time distributed systems, where continuous components are governed through digital devices and communication networks, needs a careful examination of the constraints arising from the different involved domains inside co-design approaches. Thanks to the robustness of feedback control, both new control methodologies and slackened real-time scheduling schemes are proposed beyond the frontiers between these traditionally separated fields. A methodology to design robust aperiodic controllers is provided, where the sampling interval is considered as a control variable of the system. Promising experimental results are provided to show the feasibility and robustness of the approach.
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Daniel Simon, Alexandre Seuret, Olivier Sename. Real-time control systems: feedback, scheduling and robustness. International Journal of Systems Science, Taylor & Francis, 2017, 48 (11), pp.2368-2378. ⟨10.1080/00207721.2017.1316879⟩. ⟨lirmm-01515226⟩

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