Control-Driven Tasks: Modeling and Analysis

The standard design of control systems is based on theperiodic sampling. Every period the data is read from theinput, the control law is computed, and the output is writtento the actuators. However the periodicity of the samplinginstants is a constraint that arises from the ease of implementationand it is not strictly necessary in the control system.In this paper we present an execution model that samplesthe input "when needed". This model saves a considerableamount of computational resources. We show the schedulabilityanalysis for a set of control-driven tasks using bothFixed Priority (FP) and Earliest Deadline First (EDF).