Journal Article

Optimal Priority Assignment to Control Tasks

Guilio M. Mancuso, Enrico Bini, Gabriele Pannocchia


In embedded real-time systems, task priorities are often assigned to meet deadlines. However, in control tasks, a late completion of a task has no catastrophic consequence. Rather, it has a quantifiable impact in the control performance achieved by the task. In this paper, we address the problem of determining the optimal assignment of priorities and periods of sampled-data control tasks that run over shared computation unit. We show that the minimization of the overall cost can be performed efficiently using a branch and bound algorithm, which can be further speeded up by allowing for a small degree of sub-optimality. Detailed numerical simulations are presented to show the advantages of various branching alternatives, the overall algorithm effectiveness, and its scalability with the number of tasks.


ACM Transactions on Embedded Computing Systems, 13, pp. 161–,2014.