Stability of Sampled-Data Control Loops under Sampling Jitter and Output Jitter

Abstract:

When multiple feedback controllers are implemented as periodic tasks in a single CPU, the real-time scheduling algorithm may introduce sampling jitter and output jitter in the control loops. The jitter degrades the control performance and may even cause instability in extreme cases. Previous work by Kao and Lincoln has provided stability analysis for pure output jitter. In this talk, it is first shown how the conservativeness of their approach can be reduced. The analysis is then extended to handle both sampling jitter and output jitter.

Presentation Slides