DOIAbstract
The interplay between processes and real-time software systems, together constitution a closed-loop system, isnot trivial to investigate. For the `low level' feedback loop much theory is available, however, for the supervisory level where discrete events may interfere with the dynamics of the system, no complete theory for analysis and synthesis exists. For controlled manipulator systems simulation examples show the effects of delay and start/stop scheduling for the controlled output variables. A common language for software development and dynamic systems is needed to be able to design embedded systems, in particular for safety critical applications
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