Closing the Gap Between Stability and Schedulability: A New Task Model for Cyber-Physical Systems

Chwa, Hoon Sung; Shin, Kang G.; Lee, Jin-Kyu

doi:10.1109/rtas.2018.00040

Cited by 18 publications

(10 citation statements)

References 32 publications

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“…The upward arrows indicate when the measurements are received at the processor and tasks are invoked. the impact on system performance have been proposed in the prior literature (e.g., [9,10,11,12,13]), this paper addresses the impact of limited computing capacity on the ability to satisfy physical constraints (i.e., constraints on input and/or state variables) with the Command Governor scheme; this problem is different and has not been addressed in the prior literature.…”

Section: Prior Work On Real-time Schedulingmentioning

confidence: 99%

“…Thus, in the presence of early termination, to ensure constraint satisfaction one could resort to keeping the command signal unchanged (note that v * (k) is feasible at sampling instant k + 1; see Remark 2), but this could degrade system performance. Another approach to solve (12) is to use the primal barrier interior-point methods. The main weakness of these methods is that they require a high number of Newton steps when high accuracy is required [54, pp.…”

Section: Proposed Solution: Rotecmentioning

confidence: 99%

“…In this section, we develop ROTEC to address the practical challenges discussed above. We begin by tightening the constraints of the conventional CG given in (12). Then, we build a continuous-time dynamical system that tracks the optimal solution of the CG problem, characterize its convergence properties, and define the ROTEC algorithm.…”

Section: Proposed Solution: Rotecmentioning

confidence: 99%

“…See Figure 3 for a geometric illustration of v * (k) and v † (k). Note that the larger the β , the closer the optimization problem ( 13) to (12), that is lim…”

Section: Constraint Tighteningmentioning

confidence: 99%

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ROTEC: Robust to Early Termination Command Governor for Systems with Limited Computing Capacity

Hosseinzadeh¹,

Sinopoli²,

Kolmanovsky³

et al. 2022

Preprint

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A Command Governor (CG) is an optimization-based add-on scheme to a nominal closed-loop system. It is used to enforce state and control constraints by modifying reference commands. This paper considers the implementation of a CG on embedded processors that have limited computing resources and must execute multiple control and diagnostics functions; consequently, the time available for CG computations is limited and may vary over time. To address this issue, a robust to early termination command governor is developed which embeds the solution of a CG problem into the internal states of a virtual continuous-time dynamical system which runs in parallel to the process. This virtual system is built so that its trajectory converges to the optimal solution (with a tunable convergence rate), and provides a sub-optimal but feasible solution whenever its evolution is terminated. This allows the designer to implement a CG strategy with a small sampling period (and consequently with a minimum degradation in its performance), while maintaining its constraint-handling capabilities. Simulations are carried out to assess the effectiveness of the developed scheme in satisfying performance requirements and real-time schedulability conditions for a practical vehicle rollover example.

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Section: Prior Work On Real-time Schedulingmentioning

confidence: 99%

Section: Proposed Solution: Rotecmentioning

confidence: 99%

Section: Proposed Solution: Rotecmentioning

confidence: 99%

“…See Figure 3 for a geometric illustration of v * (k) and v † (k). Note that the larger the β , the closer the optimization problem ( 13) to (12), that is lim…”

Section: Constraint Tighteningmentioning

confidence: 99%

See 2 more Smart Citations

ROTEC: Robust to Early Termination Command Governor for Systems with Limited Computing Capacity

Hosseinzadeh¹,

Sinopoli²,

Kolmanovsky³

et al. 2022

Preprint

View full text Add to dashboard Cite

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“…Chwa et al [48] propose a co-design and scheduling method to maximize QoC for control applications. The authors assign a sampling period, and a maximum number of consecutive deadline misses as parameters for each task concerning system stability.…”

Section: Related Workmentioning

confidence: 99%

Performance Optimization of Control Applications on Fog Computing Platforms Using Scheduling and Isolation

2020

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SAW: A Tool for Safety Analysis of Weakly-Hard Systems

Huang¹,

Chang

Lin

et al. 2020

Computer Aided Verification

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We introduce SAW, a tool for safety analysis of weakly-hard systems, in which traditional hard timing constraints are relaxed to allow bounded deadline misses for improving design flexibility and runtime resiliency. Safety verification is a key issue for weakly-hard systems, as it ensures system safety under allowed deadline misses. Previous works are either for linear systems only, or limited to a certain type of nonlinear systems (e.g., systems that satisfy exponential stability and Lipschitz continuity of the system dynamics). In this work, we propose a new technique for infinite-time safety verification of general nonlinear weakly-hard systems. Our approach first discretizes the safe state set into grids and constructs a directed graph, where nodes represent the grids and edges represent the reachability relation. Based on graph theory and dynamic programming, our approach can effectively find the safe initial set (consisting of a set of grids), from which the system can be proven safe under given weakly-hard constraints. Experimental results demonstrate the effectiveness of our approach, when compared with the state-of-the-art. An open source implementation of our tool is available at https://github.com/551100kk/SAW . The virtual machine where the tool is ready to run can be found at https://www.csie.ntu.edu.tw/~r08922054/SAW.ova .

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Closing the Gap Between Stability and Schedulability: A New Task Model for Cyber-Physical Systems

Cited by 18 publications

References 32 publications

ROTEC: Robust to Early Termination Command Governor for Systems with Limited Computing Capacity

ROTEC: Robust to Early Termination Command Governor for Systems with Limited Computing Capacity

Performance Optimization of Control Applications on Fog Computing Platforms Using Scheduling and Isolation

SAW: A Tool for Safety Analysis of Weakly-Hard Systems

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