Abstract
For real-time computer-controlled systems, control performances of tasks as well as energy consumption of overall system must be optimized. A control task does not have a fixed period but a range of periods in which the control performance varies. Hence, when more than one control tasks are scheduled on a single processor, an optimization problem appears. Furthermore, when an energy saving technique such as dynamic voltage scaling is used, its properties affect the control performance.
Using a performance index that involves control performance and energy consumption, a static solution is proposed to obtain the optimal processor speed and a set of periods for given control tasks in O(k). Also a dynamic solution is proposed to utilize system services of real-time operating systems to overcome unavoidable deficiencies of the static solution and to further reduce the energy consumption of the overall system. The performances of proposed solutions are revealed via simulation studies.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
AMD K6 Processor, 2000. http://www.amd.com/us-en/Processors/ProductInformation/
Aydin, H., Melhem, R., Mosse, D., and Alvarez, P. M. 2001. Dynamic and aggressive scheduling techniques for power-aware real-time systems. In Proc. of IEEE RealTime Systems Symposium. London, England, p. 95.
Cervin, A. 2000. The real-time control systems simulator reference manual, Report ISRN LUTFD2/TFRT-7592-SE, Department of Automatic Control, Lund Institute of Technology, Lund, Sweden.
Cervin, A., Henriksson, D., Lincoln, B., Eker, J., and Arzen, K. 2003. Analysis and simulation of controller timing. IEEE Control Systems Magazine 23(3): 16–30.
Franklin, G. F., Powell, J. D., and Workman, M. L. 1998. Digital Control of Dynamic Systems. Addison Wesley.
Gerber, R., Hong, S., and Saksena, M. 1994. Guaranteeing end-to-end timing constraints by calibrating intermediate processes. In Proc. of IEEE Real-Time Systems Symposium. San Juan, Puerto Rico, pp. 192–203.
Intel SpeedStep Technology, 2000. http://www.intel.com/mobile/technology/performance.htm
Intel StrongARM SA-1100 Microrocessor Developer’s Manual, 2000. http://developer.intel.com/design/strong/manuals/278088.htm
Kim, B. K. 1998. Task scheduling with feedback latency for real-time control systems. In Proc. of the 5th Int. Conf. on Real-Time Computing Systems and Applications. Hiroshima, Japan, pp. 37–41.
Kim, B. K. 1999. Control latency for task assignment and scheduling of multiprocessor real-time control systems. International Journal of Systems Science 30(1): 123–130.
Locke, C. D. 1986. Best-effort decision making for real-time scheduling. Ph.D Thesis, Computer Science Department, Carnegie-Mellon University.
Mantegazza, P. 2000. RTAI Programming Guide 1.0. http://www.aero.polimi.it/~rtai/documentation/
Palopoli, L., Pinello, C., Vincentelli, A. S., Elghaoui, L., and Bicchi, A. 2002. Synthesis of robust control systems under resource constraints. Lecture Notes in Computer Science. In Proc. of the Hybrid Systems: Computation and Control. London, UK.
Pillai, P., and Shin, K. G. 2001. Real-time dynamic voltage scaling for low-power embedded operating systems. In Proc. of the 18th ACM Symposium on Operating Systems Principles (SOSP-01). New York, USA, pp. 89–102.
Pouwelse, J., Langendoen, K., and Sips, H. 2001. Dynamic voltage scaling on a low-power microprocessor. In Proc. of the 7th ACM Int. Conf. on Mobile Computing and Networking (Mobicom). Rome, Italy, pp. 251–259.
Seto, D., Lehoczky, J. P., and Sha, L. 1998. Task period selection and schedulability in real-time systems. In Proc. of IEEE Real-Time Systems Symposium. Madrid, Spain, pp. 188–199.
Seto, D., Lehoczky, J. P., Sha, L., and Shin, K. G. 2001. Trade-off analysis of real-time control performance and schedulability. Real-Time Systems 21: 199–217.
Transmeta Crusoe Processor, 2000. http://www.transmeta.com/crusoe/
Yao, F., Demers, A., and Shenker, S. 1995. A scheduling model for reduced CPU energy. In Proc. of the 36th Annual IEEE Symposium on Foundations of Computer Science. Milwaukee, Wisconsin, pp. 374–382.
Yodaiken, V. 1999. The RTLinux Manifesto. Tech. rep., Department of Computer Science, New Mexico Institute of Technology.
Author information
Authors and Affiliations
Corresponding author
Additional information
Hyung Sun Lee received his B.S. and M.S. degrees in electronics engineering from Korea Advanced Institute of Science and Technology (KAIST) in 2000 and 2002, respectively. He is currently a Ph.D. student in the Department of Electrical Engineering and Computer Science (EECS) at KAIST. His research interests include real-time control and power-aware real-time embedded systems.
Byung Kook Kim received his B.S. degree in Electronics Engineering from Seoul National University in 1975, and his M.S. and Ph.D. degrees from KAIST in 1977 and 1981, respectively. Dr. Kim was a manager and founder of the Calibration Laboratory, Woojin Instrument Co. Ltd, in 1981. He performed his postdoctoral research at the University of Michigan, Ann Arbor, Michigan, from 1982 to 1983. He returned to Woojin Instruments as a chief researcher of the R&D Department from 1984 to 1986. He joined the faculty of the Department of Electrical Engineering at KAIST in 1986, where he is currently a professor. His research interests include real-time systems, parallel and distributed systems, fault-tolerant computing, mobile robot sensing and navigation, and manipulator control.
Rights and permissions
About this article
Cite this article
Sun Lee, H., Kook Kim, B. Dynamic Voltage Scaling for Digital Control System Implementation. Real-Time Syst 29, 263–280 (2005). https://doi.org/10.1007/s11241-005-6888-7
Issue Date:
DOI: https://doi.org/10.1007/s11241-005-6888-7