Online co-design of feedback control and real-time scheduling for embedded systems with commnuication delays

This paper is devoted to integrated control-scheduling in the case of embedded systems with communication delays, i.e. network induced delay and input output latency. Moreover the system control design takes into account the unknown delays due to the temporal uncertainties that are unavoidable in real-time environment, and embedded systems are featured by their limited resources. So, the performance of embedded control systems with communication delays depends not only on controller design, but also on efficient scheduling of the shared computing resources. Our work is to optimize the overall system performance through dynamically allocating limited CPU time based on control requirements. As a result, this paper presents a feedback control and real-time scheduling (FCRS) framework. By applying a control theory based methodology, we systematically design FCRS algorithms to satisfy the performance specifications of embedded systems.