Framework and Modeling of H∞ Nonlinear Model Predictive 框架和H∞非线性模型预测建模_精品.ppt

On the Robust Capability of Feedback Scheduling in ORB Middleware Bing Du David.C. Levy  School of Electrical and Information Engineering University of Sydney  The University of Sydney * Outline of presentation Introduction. H∞control scheduling Architecture. H∞ robust controller and H∞-NMPC controller. Overview of hORB Architecture Conclusion * Introduction Traditional scheduling are no longer promise the function and performance requirements of DRE systems. The common ORB middleware scheduling approaches can’t provide real-time performance guarantees because they depend on accurate task execution times. * Introduction Many recent scheduling research approaches have applied feedback control theory, but little theoretical analysis has been provided about effects of the plant uncertainty and nonlinearity on the desired system performance. H∞-nonlinear model predictive control scheduling (H∞-NMPC) is provided an excellent theoretical framework for dealing with nonlinear stability and robustness issues by H∞ theory. * H∞ control scheduling Architecture Task model U = e / d – r. Requested CPU utilization U ,release time r , execution time e , deadline d The performance can be interpreted as a quality-of-service (QoS) measure. The system will control the rate of deadline misses by regulating the QoS of the task. * H∞ control scheduling Architecture * H∞ robust controller The physical process is a nonlinear model and can be treated in continuous time, with continuous signals, while the controller is a discrete time algorithm Tustin transform to transform continuous systems into discrete systems and back again: S =2(z-1) / T(z+1) * Generalized nonlinear discrete-time H∞ system P is an LTI system; f(q) is a s