Control-Scheduling Codesign Exploiting Trade-Off between Task Periods and Deadlines

A control task's performance heavily depends on its sampling frequency and sensing-to-actuation delay. More frequent sampling, that is, shorter period, improves the control performance. Similarly, shorter delay also has a positive effect. Moreover, schedulability is also a function of periods and deadlines. By taking into account the control performance and schedulability at the same time, this paper defines a period and deadline selection problem for fixed-priority systems. Our problem is to find the optimal periods and deadlines for given tasks that maximize the overall system performance. As our solution, this paper presents a novel heuristic algorithm that finds a high-quality suboptimal solution with very low complexity, which makes the algorithm practically applicable to large size task sets.