Elastic feedback control

M. Caccamo, G. Buttazzo, Lui Sha

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In many real time control applications, the task periods are typically fixed and worst case execution times are used in schedulability analysis. With the advancement of robotics, flexible visual sensing using cameras has become a popular alternative to the use of embedded sensors. Unfortunately, the execution time of visual tracking varies greatly. In such environments, control tasks have a normally short computation time but also an occasional long computation time; therefore, the use of worst case execution time is inefficient for controlling performance optimization. Nevertheless, to maintain the control stability, we still need to guarantee the task set, even if the worst case arises. We propose an integrated approach to control performance optimization and task scheduling for control applications where the execution time of each task can vary greatly. We create an innovative approach to elastic control that allows us to fully utilize the processor to optimize the control performance and yet guarantee the schedulability of all tasks under worst case conditions.

Original languageEnglish (US)
Title of host publicationProceedings - 12th Euromicro Conference on Real-Time Systems, ECRTS 2000
Number of pages8
StatePublished - 2000
Event12th Euromicro Conference on Real-Time Systems, ECRTS 2000 - Stockholm, Sweden
Duration: Jun 19 2000Jun 21 2000

Publication series

NameProceedings - Euromicro Conference on Real-Time Systems
ISSN (Print)1068-3070


Other12th Euromicro Conference on Real-Time Systems, ECRTS 2000

ASJC Scopus subject areas

  • Software
  • Hardware and Architecture


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