Abstract
This paper deals with implementation of feedback controllers on embedded platforms and investigates the trade-off between Quality-of-Control (QoC) and resource utilization. In particular, we consider a setting where the embedded platform executes multiple applications including the control application under consideration. Such a setting is common in domains like automotive where consolidation of several applications is desirable for cost reasons. While tackling inter-application interference is a challenge, our platform offers composability using resource virtualization allowing for interference-free application development and cycle-accurate timing behavior. In this work, from the feedback control perspective, we show that platform timing behavior can be characterized by a finite, known and periodic set of sampling intervals for a given resource allocation. Utilizing the platform timing, we show that the control design problem can be transformed into a classical discrete-time Linear Quadratic Regulator (LQR) problem which can be efficiently solved to obtain optimal QoC for a given resource allocation. Our method is validated both in simulation and experiments, considering a Multiple-Input and Multiple-Output (MIMO) control application.
Original language | English |
---|---|
Title of host publication | Proceedings of the 2016 Design, Automation and Test in Europe Conference and Exhibition, DATE 2016 |
Publisher | Institute of Electrical and Electronics Engineers |
Pages | 654-659 |
Number of pages | 6 |
ISBN (Print) | 9783981537062 |
Publication status | Published - 25 Apr 2016 |
Event | 19th Design, Automation and Test in Europe Conference and Exhibition (DATE 2016) - ICC, Dresden, Germany Duration: 14 Mar 2016 → 18 Mar 2016 Conference number: 19 https://www.date-conference.com/date16/ |
Conference
Conference | 19th Design, Automation and Test in Europe Conference and Exhibition (DATE 2016) |
---|---|
Abbreviated title | DATE 2016 |
Country/Territory | Germany |
City | Dresden |
Period | 14/03/16 → 18/03/16 |
Internet address |