Event-triggered Real -Time scheduling of Stabilizing Control Tasks

(REVIEW)

Summary: The author is trying to explore real time scheduling of

tasks based on event rather than periodic scheduling, ensuring semi-
global asymptotical stability for control tasks.
Now a days embedded microprocessors have to work under
multitasking environment. Scheduler decides which task to be
executed, when there are more tasks are waiting for processor. The
tasks can be control specific tasks such as sampling of states and
inputs, computing control law and sending actuator signal or non-
control specific tasks such relay of information packets over the
network. Normal approach to digital control is to use periodic
sampling in time also called Riemann sampling or Lebesgue sampling
also called as event based sampling.
The author is trying to investigate the real time scheduling
algorithm based on event triggering that pre-empts running tasks, to
execute the control task whenever a certain error becomes large when
compared with state norm.
Previously, real time scheduling of control tasks to achieve
better control performance was done by providing more processor
time to control tasks or scheduling control tasks more frequently
than other tasks. These scheduling strategies are obtained through
optimization algorithms in order to maximize performance criterion.
The main contribution of the paper is that the simple execution
rule results in a sequence of inter execution times for the control task
which is always lower bounded provided the time required to read the
state from the sensors is sufficiently small. An example is provided to
illustrate the results on linear control system where lower
boundedness for inter execution time is provided, further it is shown
that estimated value does not overestimate the values obtained by
simulation by a factor of 3.