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Summary: Regular Specifications of Resource Requirements
for Embedded Control Software
Rajeev Alur and Gera Weiss
University of Pennsylvania
Abstract
For embedded control systems, a schedule for the allo-
cation of resources to a software component can be de-
scribed by an infinite word whose ith symbol models the
resources used at the ith sampling interval. Dependency
of performance on schedules can be formally modeled by
an automaton (-regular language) which captures all the
schedules that keep the system within performance require-
ments. We show how such an automaton is constructed for
linear control designs and exponential stability or settling
time performance requirements. Then, we explore the use
of the automaton for online scheduling and for schedulabil-
ity analysis. As a case study, we examine how this approach
can be applied for the LQG control design. We demonstrate,
by examples, that online schedulers can be used to guaran-
tee performance in worst-case condition together with good
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