TrueTime: Simulation of Control Loops Under Shared Computer Resources

The paper presents TrueTime, aMatlab/Simulink-based simulator for real-time controlsystems. TrueTime makes it possible to simulate the temporalbehavior of multi-tasking real-time kernels containing controllertasks and to study the effects of CPU and network scheduling on controlperformance. The simulated real-time kernel is event-driven and canhandle external interrupts as well as fine-grained details such ascontext switches. Arbitrary scheduling policies may be defined, andthe control tasks may be implemented using C functions, M functions,or Simulink block diagrams. A number of examples that illustratethe use of TrueTime are presented