Response time analysis for implementation of distributed control systems

Abstract: Methods for performing response time analysis of real-timesystems are important, not only for their use in traditionalschedulability testing, but also for deriving bounds on outputtiming variations in control applications. Automatic controlsystems are inherently sensitive to variations in periodicityand end-to-end delays. Therefore, real-time performance needsto be considered during control design. For this purpose, anyreal-time analysis of a potential control implementation shouldproduce results that can easily be used to examine how theimplementation affects control performance. To find the maximumresponse time variation for a task, bounds on both minimum andmaximum response times are needed. A tight bound on thismaximum variation is useful in the analysis of controlperformance and can also be used to improve the results of someiterative response time analysis methods. In this thesis, threemethods for response time analysis are developed.While earlier research has focused on bounding maximumresponse times, one of the analysis methods in this thesisallows a computation of the minimum response times ofindependent fixed priority scheduled tasks. The analysis findsthe largest lower bound of response times for such tasks, whichleads to a tighter bound on the response time variations. Asecond analysis method allows exact computation of maximumresponse times for tasks whose arrival times are related byoffsets. The method is a complement to schedule simulationbased analysis, which it outperforms for systems with tasksthat may experience release jitter.A common design principle for distributed real-time systemsis to let the completion of one task trigger the start of oneor more successors. A third method supporting the analysis oftasks in such systems is described. The method extends andimproves earlier methods as it allows a generalized systemmodel and also results in tighter bounds than the originalmethods. This method has been implemented as part of a toolsetthat enables an integrated approach to the design and analysisof control systems and their implementation as distributedreal-time systems. As part of the thesis, models for describingdistributed control systems have been developed. The toolset,which is based on these models, uses the derived response timebounds in a control system performance analysis based onsimulation. The use of the toolset is exemplified in a smallcase study.Keywords:real-time systems, scheduling, response time,fixed priority, control, jitter, offset, schedulabilityanalysis