Control loop timing analysis using truetime and jitterbug

A modern control system is typically implemented as a multitasking software application executing in a real-time operating system. If the computer load is high, the controller will experience delays and jitter, which in turn degrade the control performance. Arguing for an integrated design approach, the paper describes two computer tools for implementation-aware control analysis: TrueTime and Jitterbug. An example is given where the tools are used together to evaluate the performance of various control task implementations