A concurrent high-level language based real-time controller

Real-time control applications pose particular implementation problems caused by the required low latency to external events, the highly concurrent nature of the application software, and the reliability requirements usually associated with control. The implementation of concurrent real-time software is typically done at the machine language level, which is difficult, costly and non-portable. In this paper, a shared-memory multiprocessor realization of Modula-2 is proposed as a possible high-level language environment for real-time control applications. The implementation is well suited to support dynamic processor allocation and quick runtime response to external events.