@conference {GFB08,
	title = {Anytime Control Algorithms for Real-Time Embedded Systems},
	booktitle = {Int Conf of Hybrid Systems: Computation and Control},
	series = {Lecture Notes in Computer Science},
	volume = {4981/2008},
	year = {2008},
	pages = {158 - 171},
	publisher = {Springer-Verlag},
	organization = {Springer-Verlag},
	address = {St. Louis, MO},
	abstract = {<p>In this paper we consider the problem of designing controllers for linear plants to be implemented in embedded platforms under stringent real-time constraints. These include preemptive scheduling schemes, under which the maximum execution time allowed for control software tasks is uncertain. We propose an {\textquoteleft}{\textquoteleft}anytime control{\textquoteright}{\textquoteright} design approach, consisting in a hierarchy of controllers for the same plant. Higher controllers in the hierarchy provide better closed-loop performance, while typically requiring a larger worst-case execution time. We provide a procedure for the design of controllers which, together with a conditioning process of the stochastic scheduling, provides better performance than prevailing worst case-based design, while guaranteeing almost sure stability of the resulting switching system.</p>
},
	keywords = {Embedded Control, Robotics},
	author = {D. Fontanelli and L. Greco and A. Bicchi},
	editor = {M. Egerstedt and B. Mishra}
}
