01724nas a2200193   4500008004100000245009500041210006900136260001800205300001600223490000700239520104900246653002101295653001301316100001601329700001501345700001501360700003301375856012201408       2005                        eng d00aMaximizing the stability radius of a set of systems under real-time scheduling constraints0 aMaximizing the stability radius of a set of systems under realti  cNovember 2005  a1790–17950 v503 a<p>We address the problem of synthesising real-time embedded controllers taking into account constraints deriving from the implementation platform. Assuming a time-triggered model of computation for tasks controlling a set of independent systems and a real-time preemptive scheduling policy managing a single CPU processor board, we deal with two problems: 1- deciding whether a performance specification can be met on a given platform, 2- optimising performance on a platform. Decision variables of the design problems are the activation periods of the tasks , while the considered performance metric is the minimum stability radius attained over the different feedback loops, which is related to the technological feasibility of the controller and to the robustness of the controlled systems. The analytical formulation of the design problems enables efficient numerical solutions. The resulting control policies are directly implementable without performance degradation that may otherwise arise due to scheduling and execution delays.</p>
10aEmbedded Control10aRobotics1 aPalopoli, L1 aPinello, C1 aBicchi, A.1 aSangiovanni-Vincentelli, A L  uhttp://95.110.227.16/publications/maximizing-stability-radius-set-systems-under-real-time-scheduling-constraints.html