A PID-based Real-time Control and Scheduling Co-design Approach

This paper presents a real-time control and scheduling codesign approach to compensate sampling jitter and sampling-actuation delays, which is caused by processor sharing. To some variable structure or hybrid systems, the task period is adjusted dynamically to adapt the change of its WCET (worst case execution time). The sampling jitter and delays, queried by the macro period case table, are compensated by the improved PID algorithm.