Jitter considerations for worst-case performance generation in digital controller design. Cyber-Physical Systems – Enabling Multi-Nature Systems

Abstract—One domain of cyber-physical systems are dis-tributed control systems. The requirements for a control system are correctness, stability and control performance. One issue when designing such a controller is that the timing behavior of the system architecture has a direct impact on the control performance. In this paper, we present an approach which allows us to consider the timing during the controller design flow. Further we propose an approach which allows us to include the maximal occurring jitter in a control loop. Based on this, we propose a new co-design method of real-time and control systems. The controller is designed based on the results of the average delay estimated by the real-time simulation to reach best performance in most cases. It is then verified with the worst- and best-case end-to-end delay bounds calculated by real-time analysis methods. In the last step, the worst control performance regarding the jitter is evaluated by constructing a bad-delay sequence. This approach combines real-time simulation and analysis for best controller design and verification under worst-case timing. I