Delay Analysis of Sampled-Data Systems in Hard RTOS
In this paper, we have presented the effect of varying
time-delays on performance and stability in the single-channel multirate
sampled-data system in hard real-time (RT-Linux) environment.
The sampling task require response time that might exceed the
capacity of RT-Linux. So a straight implementation with RT-Linux is
not feasible, because of the latency of the systems and hence,
sampling period should be less to handle this task. The best sampling
rate is chosen for the sampled-data system, which is the slowest rate
meets all performance requirements. RT-Linux is consistent with its
specifications and the resolution of the real-time is considered 0.01
seconds to achieve an efficient result. The test results of our
laboratory experiment shows that the multi-rate control technique in
hard real-time operating system (RTOS) can improve the stability
problem caused by the random access delays and asynchronization.
[1] V. Casanova & J. Salt, Multirate control for an ICCS environment. Part
I: the random access delays, Proceedings of the 2nd IFAC workshop on
Linear Time Delay Systems, 2000, Ancona (Italy).
[2] J. Salt & P. Albertos, Multirate controllers design by rate decomposition,
Proceedings of the 39th Conference on Decision and Control, 2000,
Sydney, Australia.
[3] C. S. Alan, Real-Time Systems and Software, (Wiley, 2001).
[4] B. Wittenmark, B. Bastian & J. Nilsson, Analysis of Time Delays in
Synchronous and Asynchronous Control Loops, Proceedings of the 37th
Conference on Decision and Control, Tampa, Florida, USA, 1998, pp.
283-288.
[5] K. J. Astrom & B. Wittenmark, Computer-Controlled Systems, (Third
edition, Prentice Hall, 1997).
[6] C. K. Chak, G. Feng & T. Hesketh, Multirate adaptive optimal control
with application to dc motor, Computers Elect. Engng, Vol. 23, No. 2,
1997, pp. 65-79.
[7] A. M. Azad & T. Hesketh, H -Optimal Control Of Multi-rate Sampleddata
Systems, Proceedings of American control Conference, Anchorage,
Alaska, USA, 2002, pp.459-464.
[8] D. S. Bernstein, L. D. Davis & S. W. Greeley (1986), The Optimal
Projection Equations for Fixed-Order Sampled-Data Dynamic
Compensation with Computational Delay, IEEE Transactions on
Automatic Control, Vol. AC-31, 1986, pp. 859-862.
[9] A. M. Azad, T. Hesketh & R. Eaton, Real-time Implementation Multirate
Sampling Systems in RT-Linux Environment, Proceedings of The
fourth International Conference on Control and Automation, Montreal,
Canada, 2003, pp.605-609.
[10] F. S. Robert, (1994), Optimal Control and Estimation, (Dover
Publication, Inc. New York, 1994).
[1] V. Casanova & J. Salt, Multirate control for an ICCS environment. Part
I: the random access delays, Proceedings of the 2nd IFAC workshop on
Linear Time Delay Systems, 2000, Ancona (Italy).
[2] J. Salt & P. Albertos, Multirate controllers design by rate decomposition,
Proceedings of the 39th Conference on Decision and Control, 2000,
Sydney, Australia.
[3] C. S. Alan, Real-Time Systems and Software, (Wiley, 2001).
[4] B. Wittenmark, B. Bastian & J. Nilsson, Analysis of Time Delays in
Synchronous and Asynchronous Control Loops, Proceedings of the 37th
Conference on Decision and Control, Tampa, Florida, USA, 1998, pp.
283-288.
[5] K. J. Astrom & B. Wittenmark, Computer-Controlled Systems, (Third
edition, Prentice Hall, 1997).
[6] C. K. Chak, G. Feng & T. Hesketh, Multirate adaptive optimal control
with application to dc motor, Computers Elect. Engng, Vol. 23, No. 2,
1997, pp. 65-79.
[7] A. M. Azad & T. Hesketh, H -Optimal Control Of Multi-rate Sampleddata
Systems, Proceedings of American control Conference, Anchorage,
Alaska, USA, 2002, pp.459-464.
[8] D. S. Bernstein, L. D. Davis & S. W. Greeley (1986), The Optimal
Projection Equations for Fixed-Order Sampled-Data Dynamic
Compensation with Computational Delay, IEEE Transactions on
Automatic Control, Vol. AC-31, 1986, pp. 859-862.
[9] A. M. Azad, T. Hesketh & R. Eaton, Real-time Implementation Multirate
Sampling Systems in RT-Linux Environment, Proceedings of The
fourth International Conference on Control and Automation, Montreal,
Canada, 2003, pp.605-609.
[10] F. S. Robert, (1994), Optimal Control and Estimation, (Dover
Publication, Inc. New York, 1994).
@article{"International Journal of Information, Control and Computer Sciences:53090", author = "A. M. Azad and M. Alam and C. M. Hussain", title = "Delay Analysis of Sampled-Data Systems in Hard RTOS", abstract = "In this paper, we have presented the effect of varying
time-delays on performance and stability in the single-channel multirate
sampled-data system in hard real-time (RT-Linux) environment.
The sampling task require response time that might exceed the
capacity of RT-Linux. So a straight implementation with RT-Linux is
not feasible, because of the latency of the systems and hence,
sampling period should be less to handle this task. The best sampling
rate is chosen for the sampled-data system, which is the slowest rate
meets all performance requirements. RT-Linux is consistent with its
specifications and the resolution of the real-time is considered 0.01
seconds to achieve an efficient result. The test results of our
laboratory experiment shows that the multi-rate control technique in
hard real-time operating system (RTOS) can improve the stability
problem caused by the random access delays and asynchronization.", keywords = "Multi-rate, PID, RT-Linux, Sampled-data, Servo.", volume = "2", number = "6", pages = "1904-6", }