Comparing platform-aware control design flows for composable and predictable TDM-based execution platforms

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Abstract

We compare three platform-aware feedback control design flows that are tailored for a composable and predictable Time Division Multiplexing (TDM)-based execution platform. The platform allows for independent execution of multiple applications. Using the precise timing knowledge of the platform execution, we accurately characterise the execution of the control application (i.e., sensing, computing, and actuating operations) to design efficient feedback controllers with high control performance in terms of settling time. The design flows are derived for Single-Rate (SR) and Multi-Rate (MR) sampling schemes. We show the applicability of the design flows based on two design considerations and their trade-off: control performance and resource utilisation. The design flows are validated by means of MATLAB and Hardware-in-the-Loop (HIL) experiments for a motion control application.

Original languageEnglish
Article number32
Number of pages26
JournalACM Transactions on Design Automation of Electronic Systems
Volume24
Issue number3
DOIs
Publication statusPublished - 1 May 2019

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Keywords

  • Embedded control systems
  • Linear Quadratic Regulator (LQR)
  • Multi rate systems
  • Switched linear systems
  • TDM execution platforms
  • multi rate systems
  • switched linear systems

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