Saving Computer Resources with Dual-Rate Switching in Integrated Control and Scheduling

Integrated control and scheduling is a problem where the control tasks are concurrent for the computer resources and appear the necessity of use the real-time scheduling algorithm to bound the delay and jitter where have impact of the control performance in control loops, when there is the CPU (central processing unit) overload. In case of the low CPU utilization is shown that the use of real-time scheduling on tasks doesn't have strong impact on control performance in control loops. However the designers in project run-time care with only control performance and real-time scheduling and don't consider the efficient use from computer resources as CPU, bandwidth, memory or energy. Thus, we show how to save computer resources using the dual-rate switching control approach, where controller is switched between two different controllers sample periods depending on system state. This approach gives a desired control performance with saving computer resources where use as example the integrated control and scheduling with three servo-DC.