Download PDF by Alberto Leva, Martina Maggio, Alessandro V. Papadopoulos,: Control-Based Operating System Design

By Alberto Leva, Martina Maggio, Alessandro V. Papadopoulos, Federico Terraneo

Control-Based working method layout describes the applying of procedure- and control-theoretical the way to the layout of desktop working approach parts. It argues that desktop working approach parts shouldn't be first “designed" after which “endowed with control", yet particularly conceived from the outset as controllers, synthesized and assessed within the system-theoretical global of dynamic types, after which discovered as keep watch over algorithms. The e-book contains either a theoretical remedy of the usefulness of the strategy, and the outline of a whole implementation within the kind of a microcontroller kernel, made on hand as loose software program. issues coated contain modelling and keep an eye on layout paradigms, activity scheduling, source allocation, program functionality regulate, sensing and actuating, and the implementation and evaluate of Miosix, a control-based kernel.

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2 for ‘already functional system’, one has to face the problem of modelling the phenomenon of interest plus all the ‘created physics’ around it. In the case of a computer program, one could in principle model all the memory accesses done by the code and by all the other running tasks, their latencies and cache occupation. However, such an approach would result in adding unnecessary physics to the model, and would make a control-related use of it very impractical. , those parts of the system behaviour that are really ruled by physical laws, and cannot be altered.

Such an assumption gives rise to continuous-time dynamic systems, that are not necessary for this treatise. In other cases, conversely, time is better thought of as evolving by steps associated to an integer (time) index. This leads to discrete-time dynamic systems, which are a fundamental tool for our purposes. Note that ‘having time evolve by steps’ does not imply here that those steps have the same duration in the continuous (or, maybe better for this discussion, ‘physical’) time. Since this makes the use of discrete-time system made herein a bit unusual with respect to a relevant part of the control-related literature, a short discussion is in order.

The two blocks correspond to the two equations y1 (k) = G1 (z)u1 (k) and y2 (k) = G2 (z)u2 (k). Also, the inner connection states that u2 (k) = y1 (k), while the input and output of G(z) are u(k) = u1 (k) and y(k) = y2 (k), respectively. Putting all equations together and eliminating all variables but u(k) and y(k), we easily obtain y(k) = G2 (z)G1 (z)u(k). 2 Parallel connection Two blocks are in parallel when their inputs are all equal and their outputs are summed together (here too, generalising to more than two blocks and different signs in the sum is straightforward).

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