Abstract
Motion control applications traditionally operate with a single-rate, equidistant sampling scheme. For cost reasons, a current trend in industry is consolidating multiple applications on a single embedded platform. Generally, to deal with inter-application interference, a predictable scheduling policy allocates resource to the applications in these platforms. Realizing an equidistant sampling scheme on such shared platform is inflexible and often turns out to be expensive in terms of resource or conservative in terms of performance. The aim of this paper is to investigate the possibilities to relax the equidistant sampling convention. To this end, recent results show that platform timing properties can be represented by a known, precise, and periodically varying set of sampling periods. In view of such predictable platforms, a framework is presented for analysis and synthesis of lifted domain feedforward controllers for periodically time-varying closed-loop systems. Through simulations the potential of such periodically time-varying sampling over conservative equidistant sampling schemes is demonstrated.
| Original language | English |
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| Title of host publication | 2016 American Control Conference (ACC 2016), July 6-8, 2016, Boston, MA, USA |
| Place of Publication | Piscataway |
| Publisher | Institute of Electrical and Electronics Engineers |
| Pages | 4227-4332 |
| Number of pages | 6 |
| ISBN (Electronic) | 978-1-4673-8682-1 |
| DOIs | |
| Publication status | Published - Jul 2016 |
| Event | 2016 American Control Conference (ACC 2016), July 6-8, 2016, Boston, MA, USA - Boston Marriott Copley Place, Boston, MA, United States Duration: 6 Jul 2016 → 8 Jul 2016 http://acc2016.a2c2.org/ |
Conference
| Conference | 2016 American Control Conference (ACC 2016), July 6-8, 2016, Boston, MA, USA |
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| Abbreviated title | ACC 2016 |
| Country | United States |
| City | Boston, MA |
| Period | 6/07/16 → 8/07/16 |
| Internet address |