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Design of Embedded Controllers Based on Anytime Computing

Abstract : In this paper, we present a methodology for designing embedded controllers based on the so-called anytime control paradigm. A control law is split into a sequence of subroutine calls, each one fulfilling a control goal and refining the result produced by the previous one. We propose a design methodology to define a feedback controller structured in accordance with this paradigm and show how a switching policy of selecting the controller subroutines can be designed that provides stability guarantees for the closed-loop system. The cornerstone of this construction is a stochastic model describing the probability of executing, in each activation of the controller, the different subroutines. We show how this model can be constructed for realistic real-time task sets and provide an experimental validation of the approach.
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https://hal-supelec.archives-ouvertes.fr/hal-00832201
Contributor : Luca Greco <>
Submitted on : Monday, June 10, 2013 - 12:16:40 PM
Last modification on : Wednesday, September 16, 2020 - 4:43:07 PM

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  • HAL Id : hal-00832201, version 1

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Andrea Quagli, Daniele Fontanelli, Luca Greco, Luigi Palopoli, Antonio Bicchi. Design of Embedded Controllers Based on Anytime Computing. IEEE Transactions on Industrial Informatics, Institute of Electrical and Electronics Engineers, 2010, 6 (4), pp.492-502. ⟨hal-00832201⟩

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