The Control Server: A Computational Model for Real-Time Control Tasks

The paper presents a computational model for real-time controltasks, with the primary goal of simplifying the control andscheduling co-design problem. The model combines time-triggered I/Oand inter-task communication with dynamic, reservation-based taskscheduling. To facilitate short input-output latencies, a task maybe divided into several segments. Jitter is reduced by allowingcommunication only at the beginning and at the end of a segment. Akey property of the model is that both schedulability and controlperformance of a control task will depend on the reservedutilization factor only. This enables controllers to be treated asscalable real-time components. The model has been implemented in areal-time kernel and validated in a real-time control application