An Efficient Control-Driven Period Optimization Algorithm for Distributed Real-Time Systems

Peng Deng, Qi Zhu*, Abhijit Davare, Anastasios Mourikis, Xue Liu, Marco Di Natale

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

17 Scopus citations


The sampling periods of real-time embedded control functions have a significant impact on control performance and system schedulability. Exploring period assignment for optimizing control performance while meeting schedulability constraints is very challenging, in particular for distributed systems where control loops share a network of computation and communication resources. In this work, we propose an efficient approach that approximates the performance of each control loop in the system with a piecewise linear function of its sampling period and end-to-end delay, and then optimizes the periods of tasks and messages by exploring the linear partitions of the approximated functions and solving a series of geometric programming (GP) formulations. Experiments on sample control models, an automotive industrial case study and a set of synthetic examples demonstrate the effectiveness and efficiency of our approach.

Original languageEnglish (US)
Article number7457616
Pages (from-to)3552-3566
Number of pages15
JournalIEEE Transactions on Computers
Issue number12
StatePublished - Dec 1 2016


  • Real-time embedded control system
  • geometric programming
  • period optimization

ASJC Scopus subject areas

  • Software
  • Theoretical Computer Science
  • Hardware and Architecture
  • Computational Theory and Mathematics


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