Subtask scheduling and predictive-delay control: Comparison and hybridization

Amongst real-time scheduling community, several methods aim at enhancing the performance of the control. Subtask scheduling is one of the embedded convenient methods that reduce the input-output latency in the control loops. The predictive-Delay control is a new method based on input-output latency prediction in order to reduce the impact of this artefact on the quality of the control. Combining both subtask scheduling and predictive delay methods can be of a great help in combatting the impairments induced by this scheduling artifact.