Time-triggered implementations of dynamic controllers

Truong Nghiem, George J. Pappas, Rajeev Alur, Antoine Girard

Research output: Chapter in Book/Report/Conference proceedingConference contribution

23 Scopus citations


Bridging the gap between model-based design and platform-based implementation is one of the critical challenges for embedded software systems.In the context of embedded control systems that interact with an environment, a variety of errors due to quantization, delays, and scheduling policies may generate executable code that does not faithfully implement the model-based design. In this paper, we show that the performance gap between the model-level semantics of proportional-integral-derivative (PID) controllers and their implementation-level semantics can be rigorously quantified if the controller implementation is executed on a predictable time-triggered architecture. Our technical approach uses lifting techniques for periodic, time-varying linear systems in order to compute the exact error between the model semantics and the execution semantics. Explicitly computing the impact of the implementation on overall system performance allows us to compare and partially order different implementations with various scheduling or timing characteristics.

Original languageEnglish (US)
Title of host publicationProceedings of the 6th ACM and IEEE International Conference on Embedded Software, EMSOFT 2006
Number of pages10
StatePublished - 2006
Externally publishedYes
Event6th ACM and IEEE International Conference on Embedded Software, EMSOFT 2006 - Seoul, Korea, Republic of
Duration: Oct 22 2006Oct 25 2006

Publication series

NameIEEE International Conference on Embedded Software, EMSOFT 2006


Conference6th ACM and IEEE International Conference on Embedded Software, EMSOFT 2006
Country/TerritoryKorea, Republic of


  • Control
  • Dynamic controller
  • Implementation
  • PI
  • PID
  • Performance
  • Time-triggered

ASJC Scopus subject areas

  • Software


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