Skip to main content
SpringerLink
Log in

Fundamentals of Implementing Real-Time Control Applications in Distributed Computer Systems

  • Published:
Real-Time Systems Aims and scope Submit manuscript

Abstract

Automatic control applications are real-time systems which pose stringent requirements on precisely time-triggered synchronized actions and constant end-to-end delays in feedback loops which often constitute multi-rate systems. Motivated by the apparent gap between computer science and automatic control theory, a set of requirements for real-time implementation of control applications is given. A real-time behavioral model for control applications is then presented and exemplified. Important sources and characteristics of time-variations in distributed computer systems are investigated. This illuminates key execution strategies to ensure the required timing behavior. Implications on design and implementation and directions for further work are discussed.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  • Andreff, N. 1994. Robustness to jitter in real-time systems. Internal report, May 1994, Dept. of Automatic Control, Lund Inst. of Tech, Lund, Sweden. Doc No. ISRN LUTFD2/TFRT-5507-SE.

    Google Scholar 

  • Åström, K., and Wittenmark, B. 1990. Computer Controlled Systems, Theory and Design. 2:nd edition, Prentice Hall.

  • Audsley, N., Burns, A., Davis, R., Tindell, K., and Wellings, A. 1995. Fixed priority pre-emptive scheduling. J. Real-Time Systems 8: 173–198.

    Google Scholar 

  • Baker, T., and Shaw, A. 1989. The cyclic executive model and ADA, J. Real-Time Systems 1: 7–25.

    Google Scholar 

  • Belle Isle, A. 1975. Stability of systems with nonlinear feedback through randomly time-varying delays. IEEE Trans. Automatic Control AC-20(1).

  • Berg, M., Amit, N., and Powell, J. 1988. Multirate digital control system design. IEEE Trans. Automatic Control 33(12).

  • Burns, A., and Wellings, A., 1994. HRT-HOOD: A structured design method for hard real-time systems. J. of Real-Time Systems 6(1).

  • Franklin, G., Powell, J., and Workman, M. 1990. Digital Control of Dynamic Systems. 2:nd edition. Addison-Wesley.

  • Godbout, L., Jordan, D., and Apostolakis, I. 1990. Closed-loop model for general multirate digital control systems. IEE Proceedings 137, Pt. D,(5): 329–336.

    Google Scholar 

  • Halang, W. 1990. Simultaneous and predictable real-time control achieved by accurately timed computer peripherals. Proc. 11th IFAC World Congress on Automatic Control 7: 279–284.

    Google Scholar 

  • Halang, W. 1992. Contemporary computers considered inappropriate for real-time control. Proc. IFAC Algorithms and Architecturers for Real-Time Control Pergamon Press.

  • Hatley, D., and Pirbhai, I. 1987. Strategies for Real-Time System Specification. New York: Dorset House Publ.

    Google Scholar 

  • Hirai, K., and Satoh, Y. 1980. Stability of a system with a variable time delay. IEEE Trans. on Automatic Control AC-25(3): 552–554.

    Google Scholar 

  • IEEE 1992. The New IEEE Standard Dictionary of Electrical and Electronics Terms. IEEE std. 100–1992. Fifth edition.

  • Jahanian, F., Lee, R., and Mok, A. 1988. Semantics of modechart in real time logic. Proc. of 21sr Hawaii Int. Conf. on Systems Sciences. pp. 479–489.

  • Klein, M., Lehoczky, J., and Rajkumar, R. 1994. Rate-monotonic analysis for real-time industrial computing. IEEE Computer January: 24–32.

  • Kopetz, H., Damm, A., Koza, C., Mulazzani, M., Schwabl, W., Senft, C., and Zainlinger, E. 1989. Distributed fault-tolerant real-time systems: The MARS approach, IEEE Micro 9(1): 25–40.

    Google Scholar 

  • Kopetz, H., and Kim, K. 1990. Real-time temporal uncertainties in interactions among real-time objects. Proc. 9th IEEE Symposium on Reliable and DIstributed Systems Huntsville, AL.

  • Lauwereins, R., Engels, M., Ade, M., and Peperstraete, J. 1995. Grape-II: A system-level prototyping environment for DSP applications. IEEE Computer Feb.: 35–43.

  • Lawson, H. 1992. Engineering predictable real-time systems. Real-Time Computing NATO ASI series. Springer-Verlag.

  • Liu, C., and Layland, J. 1973. Scheduling Algorithms for multiprogramming in a hard-real-time environment. Journal of the Association for Computing Machinery 20: 46–61.

    Google Scholar 

  • Luck, R. 1989. Observability and delay compensation of integrated communication and control systems. Ph.D. thesis, Dept. of Mechanical Engineering, Pennsylvania State University, U.S.A.

    Google Scholar 

  • Mok, A. 1983. Fundamental Design Problems of Distributed Systems for the Hard Real-Time Environment. Ph.D. thesis, Massachusetts Inst. of Technology.

  • Motus, L., and Rodd, M. 1994. Timing Analysis of Real-Time Software. Pergamon.

  • Ray, A., and Halevi, Y. 1988. Integrated Communication and Control Systems: Part I—Analysis, and Part II—Design Considerations. ASME Journal of Dynamic Systems, Measurements and Control 110: 367–381.

    Google Scholar 

  • Ray, A. 1994. Output feedback control under randomly varying distributed delays. J of Guidance, Control and Dynamics 17(4).

  • Shin, K., and Kim, H. 1992. Hard deadlines in real-time control systems. Proc. IFAC Algorithms and Architectures for Real-Time Control Seoul, Korea.

  • Shin, K., and Cui, X. 1996. Computing time delay and its effects on real-time control systems. IEEE Trans. on Control Systems Technology 3(2): 218–224.

    Google Scholar 

  • Stankovic et al. 1995. Implications of classical scheduling results for real-time systems. Computer 28(6).

  • Stankovic, J., and Ramamritham, K. 1990. Editorial: What is predictability for real-time systems? Real-Time Systems 2(4): 247–254.

    Google Scholar 

  • Tindell, K., and Clark, J. 1994. Holistic schedulability analysis for distributed hard real-time systems. Microprocessing and Microprogramming 40: 117–134.

    Google Scholar 

  • Törngren, M. 1995. Modeling and Design of Distributed Real-time Control Applications. Ph.D. thesis, Dept. of Machine Design, The Royal Institute of Technology, Stockholm, Sweden.

    Google Scholar 

  • Törngren, M., and Wikander, J. 1996. A decentralization methodology for real-time control applications. In the IFAC J. Control Eng. Practice 4(2), special section on the engineering of complex computer control systems. Pergamon Press.

  • Törngren, M., Eriksson, C., and Sandström, C. 1997. Deriving Timing Requirements and Constraints for Implementation of Multirate Control Applications. Internal report, 1997:1, Dept. of Machine Design, The Royal Institute of Technology, Stockholm, Sweden.

    Google Scholar 

  • Uchida, K., and Shimemura, E. 1986. Closed-loop properties of the infinite-time linear-quadratic optimal regulator for systems with delays. Int. J. Control 43(3): 773–779.

    Google Scholar 

  • Wang, Z., Lundström, P., and Skogestad, S. 1994. Representation of uncertain time delays in the H ∞ framework. Int. J Control 59(3): 627–638.

    Google Scholar 

  • Voulgaris, P. 1994. Control of asynchronous sampled data systems, IEEE Trans. on Automatic Control 39(7)

  • Wittenmark, B., Nilsson, J., and Törngren, M. 1995. Timing problems in real-time control systems: Problem formulation. Proc. of the American Control Conference Seattle, Washington.

  • Xu, J., and Parnas, L. 1990. Scheduling processes with release times, deadlines, precedence and exclusion relations. IEEE Trans. on Software Engineering 16, 360–369.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Mechatronics lab, Dept. of Machine Design, The Royal Inst. of Technology, S-100 44, Stockholm, Sweden

    Martin Törngren

Authors
  1. Martin Törngren
    View author publications

    You can also search for this author in PubMed Google Scholar

Rights and permissions

Reprints and permissions

About this article

Cite this article

Törngren, M. Fundamentals of Implementing Real-Time Control Applications in Distributed Computer Systems. Real-Time Systems 14, 219–250 (1998). https://doi.org/10.1023/A:1007964222989

Download citation

  • Issue Date:

  • DOI: https://doi.org/10.1023/A:1007964222989

Search

Navigation