Beruflich Dokumente
Kultur Dokumente
Introduction
(t )
Example: Water Tank
h(t )
In other words
plant sensor
system
system h(t )
state
state
equation
equation
~
(t ) h (t )
control
control law
law
h(t )
regulator estimator
1
CPSC-663 Real-Time Systems
Introduction
DO FOREVER
wait_for_delay
h := fluid_height
theta := valve_position
r := table_lookup(h, theta)
IF r = left THEN turn_left
ELSE IF r = right THEN turn_right
ELSE do_nothing
ENDDO
Algorithm becomes
with decreasing T
complicated with
small differences
Inormation loss
System becomes
word length too
small to resolve
Step response
increasing T
oscillatory
unstable
2
CPSC-663 Real-Time Systems
Introduction
Degrees
Meters
0 10 20
Minutes
Degrees
Meters
0 1 2
Controllers behavior with a one-second sample period
x(t f ) xd
Performance Index J(u) of control system: measure of total cost of control and
accuracy generated in time period [0, tf] by control u. Generally:
tf
J (u ) = S ( x (t f ), t f ) + L( x (t ), u (t ), t )dt
0
Optimal control u*(t) with performance index J*.
3
CPSC-663 Real-Time Systems
Introduction
Final state:
xd pb 2 sinh( at f )
x * (t f ) =
+ pb 2 sinh( at f )
at f
ae
k =0 kP
In our case:
1 e aP
2
1
J D* ( P ) pxd
1 + e
aP
2
Constraints: x(t f ) xd
1 e aP 1 x +
xd P ln d
1 + e
aP
a xd
4
CPSC-663 Real-Time Systems
Introduction
performance index
JD*(1/P)
J*
frequency
Pmax 1/P
Optimization problem:
Given a set of tasks, 1, , n, with given J*i() and execution times Ci,
find a set of periods Pi , such that
1. Pi <= Pi max // Maintain stability
J *i ( Pi )
n
2. Minimize (maximize) i =1
// Optimize total
// performance index
1
Ci U
n
3. i =1
// CPU capacity constraints
Pi
5
CPSC-663 Real-Time Systems
Introduction
Applications: Multimedia
Example: Teleseminars
6
CPSC-663 Real-Time Systems
Introduction
Medical-critical-care systems:
users
internet
IV pump dialysis ...
IEEE-1073
monitoring clinical
alarm database
IP clinical
database
monitoring
alarm
rate
controller
priority
queues
7
CPSC-663 Real-Time Systems
Introduction
global
clock
dT dB dR
redundant digital
control channels
output selection
sensor output
analog backup
8
CPSC-663 Real-Time Systems
Introduction
R1 R1 ' = R1 R2 = R1
9
CPSC-663 Real-Time Systems
Introduction
Timing constraints:
Release Time: time when job becomes available for execution
Deadline: time when execution must be completed
Relative Deadline: maximum response time
rather hard
rather soft system
Overall
system
Overall
tardiness
10
CPSC-663 Real-Time Systems
Introduction
Examples:
Embedded systems
Recovery procedures in high-availability systems
u usefullness
Non-stringent timing requirements
on-line transaction system
d
telephone switches t
u
11