Samenvatting
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 In recent years, traditional special-purpose platforms have been replaced by general-purpose multiprocessor platforms, which introduce significant fluctuations in execution times.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.
Originele taal-2 | Engels |
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Artikelnummer | 7339675 |
Pagina's (van-tot) | 1218-1229 |
Aantal pagina's | 12 |
Tijdschrift | IEEE Transactions on Industrial Electronics |
Volume | 63 |
Nummer van het tijdschrift | 2 |
DOI's | |
Status | Gepubliceerd - 1 feb 2016 |