The impact of deadline misses on the control performance of high-end motion control systems

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5 Citaties (Scopus)

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In high-end motion control systems, the real-time computational platform must execute tasks from multiple control loops operating at high sampling rates. In recent years, traditional special-purpose platforms have been replaced by general-purpose multiprocessor platforms, which introduce significant fluctuations in execution times. While considering worst-case execution times would severely reduce the sampling rates, accepting deadline misses and assuring that the control system still meets the desired specifications is challenging. In this paper, we provide a framework to model and assert the impact of deadline misses in a real-time control loop. We consider stochastic models for deadline misses and characterize the mean and the variance of closed-loop output variables based on a time-domain analysis. We illustrate the usefulness of our framework in the control of a benchmark motion control experimental setup and in the control of a wafer stage in a lithographic machine.

TaalEngels
Artikelnummer7339675
Pagina's1218-1229
Aantal pagina's12
TijdschriftIEEE Transactions on Industrial Electronics
Volume63
Nummer van het tijdschrift2
DOI's
StatusGepubliceerd - 1 feb 2016

Vingerafdruk

Motion control
Control systems
Sampling
Time domain analysis
Real time control
Stochastic models
Specifications

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    Citeer dit

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    title = "The impact of deadline misses on the control performance of high-end motion control systems",
    abstract = "In high-end motion control systems, the real-time computational platform must execute tasks from multiple control loops operating at high sampling rates. In recent years, traditional special-purpose platforms have been replaced by general-purpose multiprocessor platforms, which introduce significant fluctuations in execution times. While considering worst-case execution times would severely reduce the sampling rates, accepting deadline misses and assuring that the control system still meets the desired specifications is challenging. In this paper, we provide a framework to model and assert the impact of deadline misses in a real-time control loop. We consider stochastic models for deadline misses and characterize the mean and the variance of closed-loop output variables based on a time-domain analysis. We illustrate the usefulness of our framework in the control of a benchmark motion control experimental setup and in the control of a wafer stage in a lithographic machine.",
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    author = "W. Geelen and D. Antunes and J.P.M. Voeten and R.R.H. Schiffelers and W.P.M.H. Heemels",
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    The impact of deadline misses on the control performance of high-end motion control systems. / Geelen, W.; Antunes, D.; Voeten, J.P.M.; Schiffelers, R.R.H.; Heemels, W.P.M.H.

    In: IEEE Transactions on Industrial Electronics, Vol. 63, Nr. 2, 7339675, 01.02.2016, blz. 1218-1229.

    Onderzoeksoutput: Bijdrage aan tijdschriftTijdschriftartikelAcademicpeer review

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    AU - Geelen,W.

    AU - Antunes,D.

    AU - Voeten,J.P.M.

    AU - Schiffelers,R.R.H.

    AU - Heemels,W.P.M.H.

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