Global scheduling of periodic tasks in a decentralized real-time control system

A decentralized real-time control system is one in which the control is devolved to a set of loosely coupled nodes. The control software of the system consists of precedence constrained tasks which run concurrently in the nodes competing for the system resources. The resources need to be shared between the tasks so that all the tasks complete by their deadline. This needs a global schedule which defines the space, the time and the order of execution of the tasks in the resources. We introduce an integer linear program to derive a static global schedule for a decentralized real-time control system consisting of periodic tasks while considering the resource, the precedence and the timing constraints.