Linköping Studies in Science and Technology

Dissertations. No. 1746

Analysis, Design, and Optimization of

Embedded Control Systems

by

Amir Aminifar

Department of Computer and Information Science

Linköping University
SE-581 83 Linköping, Sweden

Linköping 2016
 ������������

[1] K. J. Åström and B. Wittenmark, Computer-Controlled Sys-

tems, 3rd ed. Prentice Hall, 1997.

[2] A. Cervin, “Stability and worst-case performance analysis of

sampled-data control systems with input and output jitter,” in
Proceedings of the 2012 American Control Conference (ACC),
2012.

[3] A. Cervin, D. Henriksson, B. Lincoln, J. Eker, and K. E. Årzén,

“How does control timing affect performance? Analysis and
simulation of timing using Jitterbug and TrueTime,” IEEE
Control Systems Magazine, vol. 23, no. 3, pp. 16–30, 2003.

[4] K. E. Årzén and A. Cervin, “Control and embedded computing:

Survey of research directions,” in Proceedings of the 16th IFAC
World Congress, 2005.

[5] B. Wittenmark, J. Nilsson, and M. Törngren, “Timing problems

in real-time control systems,” in Proceedings of the American
Control Conference, 1995, pp. 2000–2004.

[6] D. Seto, J. P. Lehoczky, L. Sha, and K. G. Shin, “On task

schedulability in real-time control systems,” in Proceedings of
the 17th IEEE Real-Time Systems Symposium, 1996, pp. 13–21.

[7] K. E. Årzén, A. Cervin, J. Eker, and L. Sha, “An introduction

to control and scheduling co-design,” in Proceedings of the 39th

140
BIBLIOGRAPHY 141

IEEE Conference on Decision and Control, 2000, pp. 4865–

4870.

[8] H. Rehbinder and M. Sanfridson, “Integration of off-line

scheduling and optimal control,” in Proceedings of the 12th Eu-
romicro Conference on Real-Time Systems, 2000, pp. 137–143.

[9] M. M. Ben Gaid, A. Cela, and Y. Hamam, “Optimal inte-

grated control and scheduling of networked control systems with
communication constraints: Application to a car suspension
system,” IEEE Transactions on Control Systems Technology,
vol. 14, no. 4, pp. 776–787, 2006.

[10] B. Lincoln and A. Cervin, “Jitterbug: A tool for analysis of

real-time control performance,” in Proceedings of the 41st IEEE
Conference on Decision and Control, 2002, pp. 1319–1324.

[11] A. Cervin, B. Lincoln, J. Eker, K. E. Årzén, and G. Buttazzo,

“The jitter margin and its application in the design of real-
time control systems,” in Proceedings of the 10th International
Conference on Real-Time and Embedded Computing Systems
and Applications, 2004.

[12] M. Behnam and D. Isovic, “Real-time control and schedul-

ing co-design for efficient jitter handling,” in Proceedings of
the 13th IEEE International Conference onEmbedded and Real-
Time Computing Systems and Applications, 2007, pp. 516–524.

[13] E. Bini and A. Cervin, “Delay-aware period assignment in con-

trol systems,” in Proceedings of the 29th IEEE Real-Time Sys-
tems Symposium, 2008, pp. 291–300.

[14] P. Naghshtabrizi and J. P. Hespanha, “Distributed control sys-

tems with shared communication and computation resources,”
2008, position paper for the National Workshop on High Con-
fidence Automotive Cyber-Physical Systems.

[15] F. Zhang, K. Szwaykowska, W. Wolf, and V. Mooney, “Task

scheduling for control oriented requirements for cyber-physical
systems,” in Proceedings of the 29th IEEE Real-Time Systems
Symposium, 2008, pp. 47–56.

141
142 BIBLIOGRAPHY

[16] S. Samii, A. Cervin, P. Eles, and Z. Peng, “Integrated schedul-

ing and synthesis of control applications on distributed embed-
ded systems,” in Proceedings of the Design, Automation and
Test in Europe Conference, 2009, pp. 57–62.

[17] S. Samii, P. Eles, Z. Peng, and A. Cervin, “Quality-driven syn-

thesis of embedded multi-mode control systems,” in Proceedings
of the 46th Design Automation Conference, 2009, pp. 864–869.

[18] S. Samii, U. D. Bordoloi, P. Eles, Z. Peng, and A. Cervin,

“Control-quality optimization for distributed embedded sys-
tems with adaptive fault tolerance,” in Proceedings of the 24th
Euromicro Conference on Real-Time Systems, 2012, pp. 68–77.

[19] D. Goswami, M. Lukasiewycz, R. Schneider, and

S. Chakraborty, “Time-triggered implementations of mixed-
criticality automotive software,” in Proceedings of the 15th
Conference for Design, Automation and Test in Europe
(DATE), 2012.

[20] D. Goswami, R. Schneider, and S. Chakraborty, “Co-design of

cyber-physical systems via controllers with flexible delay con-
straints,” in Proceedings of the 16th Asia and South Pacific De-
sign Automation Conference (ASP-DAC), 2011, pp. 225–230.

[21] ——, “Re-engineering cyber-physical control applications for

hybrid communication protocols,” in Proceedings of the 14th
Conference for Design, Automation and Test in Europe
(DATE), 2011, pp. 1–6.

[22] F. Consortium, “Flexray communications system, protocol

specification version 2.1,” 2005.

[23] A. Masrur, D. Goswami, S. Chakraborty, J.-J. Chen, A. An-

naswamy, and A. Banerjee, “Timing analysis of cyber-physical
applications for hybrid communication protocols,” in Proceed-
ings of the 15th Conference for Design, Automation and Test in
Europe (DATE), 2012, pp. 1233–1238.

[24] P. Kumar, D. Goswami, S. Chakraborty, A. Annaswamy,

K. Lampka, and L. Thiele, “A hybrid approach to cyber-

142
BIBLIOGRAPHY 143

physical systems verification,” in Proceedings of the 49th Design

Automation Conference, 2012.

[25] T. Bund and F. Slomka, “A delay density model for networked

control systems,” in Proceedings of the 21st International Con-
ference on Real-Time Networks and Systems, 2013, pp. 205–212.

[26] ——, “Worst-case performance validation of safety-critical con-

trol systems with dropped samples,” in Proceedings of the 23rd
International Conference on Real Time and Networks Systems,
2015, pp. 319–326.

[27] P. Naghshtabrizi and J. P. Hespanha, “Analysis of distributed

control systems with shared communication and computation
resources,” in Proceedings of the 2009 American Control Con-
ferance (ACC), 2009.

[28] M. Branicky, S. Phillips, and W. Zhang, “Scheduling and feed-

back co-design for networked control systems,” in Proceedings
of the 41st IEEE Conference on Decision and Control, vol. 2,
2002, pp. 1211–1217.

[29] R. Majumdar, I. Saha, and M. Zamani, “Performance-aware

scheduler synthesis for control systems,” in Proceedings of the
9th ACM international conference on Embedded software, 2011,
pp. 299–308.

[30] I. Saha, S. Baruah, and R. Majumdar, “Dynamic scheduling

for networked control systems,” in Proceedings of the 28th In-
ternational Conference on Hybrid Systems: Computation and
Control, 2015, pp. 98–107.

[31] A. Aminifar, P. Eles, Z. Peng, and A. Cervin, “Stability-aware

analysis and design of embedded control systems,” in Pro-
ceedings of the International Conference on Embedded Software
(EMSOFT), 2013, pp. 1–10.

[32] Y. Xu, K. E. Årzén, E. Bini, and A. Cervin, “Response time

driven design of control systems,” in 19th IFAC World Congress,
Cape Town, South Africa, Aug. 2014.

143
144 BIBLIOGRAPHY

[33] Y. Xu, K. E. Årzén, A. Cervin, E. Bini, and B. Tanasa, “Ex-

ploiting job response-time information in the co-design of real-
time control systems,” in IEEE 21st International Conference
on Embedded and Real-Time Computing Systems and Applica-
tions (RTCSA), 2015, pp. 247–256.

[34] G. Mancuso, E. Bini, and G. Pannocchia, “Optimal compu-

tational resource allocation for control task under fixed prior-
ity scheduling,” Proceedings of the 18th IFAC World Congress,
vol. 18, 2011.

[35] ——, “Optimal priority assignment to control tasks,” ACM

Transactions on Embedded Computing Systems (TECS),
vol. 13, no. 5s, p. 161, 2014.

[36] G. C. Buttazzo, M. Velasco, P. Marti, and G. Fohler, “Manag-

ing quality-of-control performance under overload conditions,”
in Proceedings of the 16th Euromicro Conference on Real-Time
Systems, 2004, pp. 53–60.

[37] G. C. Buttazzo, G. Lipari, M. Caccamo, and L. Abeni, “Elastic

scheduling for flexible workload management,” IEEE Transac-
tions on Computers, vol. 51, no. 3, pp. 289–302, 2002.

[38] L. Palopoli, C. Pinello, A. Bicchi, and A. Sangiovanni-

Vincentelli, “Maximizing the stability radius of a set of sys-
tems under real-time scheduling constraints,” Automatic Con-
trol, IEEE Transactions on, vol. 50, no. 11, pp. 1790–1795, 2005.

[39] T. Nghiem, G. J. Pappas, R. Alur, and A. Girard, “Time-

triggered implementations of dynamic controllers,” in Proceed-
ings of the 6th ACM & IEEE International conference on Em-
bedded software, 2006, pp. 2–11.

[40] G. Weiss and R. Alur, “Automata based interfaces for control

and scheduling,” in Hybrid Systems: Computation and Con-
trol, ser. Lecture Notes in Computer Science. Springer Berlin
Heidelberg, 2007, vol. 4416, pp. 601–613.

[41] N. Dhruva, P. Kumar, G. Giannopoulou, and L. Thiele, “Com-

puting a language-based guarantee for timing properties of

144
BIBLIOGRAPHY 145

cyber-physical systems,” in Proceedings of the 17th Conference

for Design, Automation and Test in Europe (DATE), 2014.

[42] X. Koutsoukos, N. Kottenstette, J. Hall, P. Antsaklis, and

J. Sztinapovits, “Passivity-based control design of cyber–
physical systems,” in International Workshop on Cyber–
Physical Systems - Challenges and Applications, 2008.

[43] S. Saewong, R. R. Rajkumar, J. P. Lehoczky, and M. H. Klein,

“Analysis of hierarhical fixed-priority scheduling,” in Proceed-
ings of the 14th Euromicro Conference on Real-Time Systems,
2002, pp. 152–160.

[44] G. Lipari and E. Bini, “Resource partitioning among real-time

applications,” in Proceedings of the 15th Euromicro Conference
on Real-Time Systems, 2003, pp. 151–158.

[45] I. Shin and I. Lee, “Periodic resource model for compositional

real-time guarantees,” in Proceedings of the 24th IEEE Real-
Time Systems Symposium, 2003, pp. 2–13.

[46] L. Almeida and P. Pedreiras, “Scheduling within temporal par-

titions: response-time analysis and server design,” in Proceed-
ings of the 4th ACM international conference on Embedded soft-
ware, 2004, pp. 95–103.

[47] A. Easwaran, M. Anand, and I. Lee, “Compositional analysis

framework using edp resource models,” in Proceedings of the
28th IEEE Real-Time Systems Symposium, 2007, pp. 129–138.

[48] N. Fisher and F. Dewan, “A bandwidth allocation scheme for

compositional real-time systems with periodic resources,” Real-
Time Systems, vol. 48, no. 3, pp. 223–263, 2012.

[49] A. Cervin and J. Eker, “Control-scheduling codesign of real-

time systems: The control server approach,” Journal of Embed-
ded Computing, vol. 1, no. 2, pp. 209–224, 2005.

[50] D. Fontantelli, L. Palopoli, and L. Greco, “Optimal cpu allo-

cation to a set of control tasks with soft real–time execution
constraints,” in Proceedings of the 16th international conference
on Hybrid systems: computation and control, 2013, pp. 233–242.

145
146 BIBLIOGRAPHY

[51] D. Fontanelli, L. Greco, and L. Palopoli, “Soft real-time

scheduling for embedded control systems,” Automatica, vol. 49,
no. 8, pp. 2330 – 2338, 2013.

[52] D. Fontanelli, L. Palopoli, and L. Abeni, “The continuous

stream model of computation for real–time control,” in Proceed-
ings of the 34th IEEE Real-Time Systems Symposium, Vancou-
ver, Canada, 2013.

[53] K. J. Åström and B. Bernhardsson, “Comparison of periodic

and event-based sampling for first-order stochastic systems,” in
Preprints of the 14th World Congress of IFAC, 1999.

[54] K. E. Årzén, “A simple event-based pid controller,” in Preprints

of the 14th World Congress of IFAC, 1999.

[55] M. Velasco, J. M. Fuertes, and P. Marti, “The self-triggered

task model for real-time control systems,” in the 24th IEEE
Real-Time Systems Symposium, 2003, pp. 67–70.

[56] T. Henningsson, E. Johannesson, and A. Cervin, “Sporadic

event-based control of first-order linear stochastic systems,” Au-
tomatica, vol. 44, no. 11, pp. 2890–2895, 2008.

[57] W. P. M. H. Heemels, J. H. Sandee, and P. P. J. V. D. Bosch,

“Analysis of event-driven controllers for linear systems,” Inter-
national Journal of Control, vol. 81, no. 4, pp. 571–590, 2008.

[58] M. Mazo, A. Anta, and P. Tabuada, “On self-triggered con-

trol for linear systems: Guarantees and complexity,” in 2009
European Control Conference (ECC), 2009, pp. 3767–3772.

[59] X. Wang and M. Lemmon, “Self-triggered feedback control sys-

tems with finite-gain stability,” IEEE Transactions on Auto-
matic Control, vol. 54, no. 3, pp. 452–467, 2009.

[60] M. Velasco, P. Marti, and E. Bini, “Optimal-sampling-inspired

self-triggered control,” in the IEEE International Conference
on Event-based Control, Communications & Signal Processing,
2015.

146
BIBLIOGRAPHY 147

[61] M. Lemmon, T. Chantem, X. S. Hu, and M. Zyskowski, “On

self-triggered full-information h-infinity controllers,” in Proceed-
ings of the 10th International Conference on Hybrid Systems:
Computation and Control, 2007, pp. 371–384.

[62] M. Velasco, P. Marti, and E. Bini, “Control-driven tasks: Mod-

eling and analysis,” in Real-Time Systems Symposium, 2008,
2008, pp. 280–290.

[63] A. Cervin and T. Henningsson, “Scheduling of event-triggered

controllers on a shared network,” in Proceedings of the 47th Con-
ference on Decision and Control, 2008, pp. 3601–3606.

[64] A. Anta and P. Tabuada, “On the benefits of relaxing the peri-
odicity assumption for networked control systems over CAN,”
in Proceedings of the 30th IEEE Real-Time Systems Symposium,
2009, pp. 3–12.

[65] S. Samii, P. Eles, Z. Peng, P. Tabuada, and A. Cervin,

“Dynamic scheduling and control-quality optimization of self-
triggered control applications,” in Proceedings of the 31st IEEE
Real-Time Systems Symposium, 2010, pp. 95–104.

[66] T. Bund, B. Menhorn, and F. Slomka, “Event density analy-

sis for event triggered control systems,” in Proceedings of the
16th Conference for Design, Automation and Test in Europe
(DATE), 2013, pp. 1111–1116.

[67] D. Antunes and W. Heemels, “Rollout event-triggered control:

Beyond periodic control performance,” IEEE Transactions on
Automatic Control, vol. 59, no. 12, pp. 3296–3311, Dec 2014.

[68] J. Eker, P. Hagander, and K.-E. Årzén, “A feedback scheduler

for real-time controller tasks,” Control Engineering Practice,
vol. 8, no. 12, pp. 1369–1378, 2000.

[69] A. Cervin, J. Eker, B. Bernhardsson, and K.-E. Årzén,

“Feedbac–feedforward scheduling of control tasks,” Real-Time
Systems, vol. 23, no. 1-2, pp. 25–53, 2002.

147
148 BIBLIOGRAPHY

[70] D. Henriksson and A. Cervin, “Optimal on-line sampling period

assignment for real-time control tasks based on plant state infor-
mation,” in Proceedings of the 44th IEEE Conference on Deci-
sion and Control and the European Control Conference. IEEE
Press, 2005, pp. 4469–4474.

[71] A. Cervin, M. Velasco, P. Marti, and A. Camacho, “Optimal

online sampling period assignment: Theory and experiments,”
IEEE Transactions on Control Systems Technology, vol. 19,
no. 4, pp. 902–910, 2011.

[72] P. Marti, C. Lin, S. A. Brandt, M. Velasco, and J. M. Fuertes,

“Optimal state feedback based resource allocation for resource-
constrained control tasks,” in Proceedings of the 25st IEEE Real-
Time Systems Symposium, 2004, pp. 161–172.

[73] G. C. Buttazzo, E. Bini, and D. Buttle, “Rate-adaptive tasks:

Model, analysis, and design issues,” in Proceedings of the
17th Conference for Design, Automation and Test in Europe
(DATE), 2014, pp. 1–6.

[74] A. Aminifar, S. Samii, P. Eles, Z. Peng, and A. Cervin, “De-

signing high-quality embedded control systems with guaranteed
stability,” in Proceedings of the 33th IEEE Real-Time Systems
Symposium, 2012, pp. 283–292.

[75] A. Aminifar, E. Bini, P. Eles, and Z. Peng, “Analysis and desing

of real-time servers for control applications,” IEEE Transac-
tions on Computers, 2015.

[76] A. Aminifar, P. Tabuada, P. Eles, and Z. Peng, “Self-triggered

controllers and hard real-time guarantees,” in Proceedings of
the 19th Conference for Design, Automation and Test in Europe
(DATE), 2016.

[77] A. Aminifar, P. Eles, and Z. Peng, “Jfair: A scheduling algo-

rithm to stabilize control applications,” in Proceedings of the
21st IEEE Real-Time and Embedded Technology and Applica-
tions Symposium, 2015.

148
BIBLIOGRAPHY 149

[78] A. Aminifar, P. Eles, Z. Peng, and A. Cervin, “Control-quality

driven design of cyber-physical systems with robustness guar-
antees,” in Proceedings of the 16th Conference for Design, Au-
tomation and Test in Europe (DATE), 2013.
[79] A. Aminifar, E. Bini, P. Eles, and Z. Peng, “Designing
bandwidth-efficient stabilizing control servers,” in Proceedings
of the 34th IEEE Real-Time Systems Symposium, 2013.
[80] ——, “Bandwidth-efficient controller–server co-design with sta-
bility guarantees,” in Proceedings of the 17th Conference for
Design, Automation and Test in Europe (DATE), 2014.
[81] U. D. Bordoloi, A. Aminifar, P. Eles, and Z. Peng, “Schedula-
bility analysis of ethernet avb switches,” in IEEE 20th Inter-
national Conference on Embedded and Real-Time Computing
Systems and Applications (RTCSA), 2014, pp. 1–10.
[82] A. Aminifar, S. Samii, P. Eles, and Z. Peng, “Control-quality
driven task mapping for distributed embedded control systems,”
in Proceedings of the 17th IEEE Embedded and Real-Time Com-
puting Systems and Applications (RTCSA) Conference, 2011,
pp. 133–142.
[83] S. K. Baruah, N. K. Cohen, C. G. Plaxton, and D. A. Varvel,
“Proportionate progress: A notion of fairness in resource allo-
cation,” Algorithmica, vol. 15, no. 6, pp. 600–625, 1996.
[84] J. C. Doyle, “Guaranteed margins for lqg regulators,” IEEE
Transactions on Automatic Control, vol. 23, no. 4, pp. 756–757,
1978.
[85] C.-Y. Kao and B. Lincoln, “Simple stability criteria for systems
with time-varying delays,” Automatica, vol. 40, pp. 1429–1434,
2004.
[86] M. Joseph and P. Pandya, “Finding response times in a real-
time system,” The Computer Journal, vol. 29, no. 5, pp. 390–
395, 1986.
[87] J. P. Lehoczky, “Fixed priority scheduling of periodic task sets
with arbitrary deadlines,” in Proceedings of the 11th IEEE Real-
Time Systems Symposium, 1990, pp. 201–209.

149
150 BIBLIOGRAPHY

[88] K. Tindell, A. Burns, and A. J. Wellings, “An extendible ap-

proach for analyzing fixed priority hard real-time tasks,” Real-
Time Systems, vol. 6, no. 2, pp. 133–151, 1994.

[89] O. Redell and M. Sanfridson, “Exact best-case response time

analysis of fixed priority scheduled tasks,” in Proceedings of the
14th Euromicro Conference on Real-Time Systems, 2002, pp.
165–172.

[90] R. J. Bril, J. J. Lukkien, and R. H. Mak, “Best-case response

times and jitter analysis of real-time tasks with arbitrary dead-
lines,” in Proceedings of the 21st International Conference on
Real-Time Networks and Systems, 2013, pp. 193–202.

[91] H. Kopetz, Real-Time Systems—Design Principles for Dis-

tributed Embedded Applications. Kluwer Academic, 1997.

[92] J. Palencia Gutierrez, J. Gutierrez Garcia, and M. Gonza-

lez Harbour, “Best-case analysis for improving the worst-case
schedulability test for distributed hard real-time systems,” in
Proceedings of the 10th Euromicro Workshop on Real-Time Sys-
tems, 1998, pp. 35–44.

[93] J. Nocedal and S. J. Wright, Numerical Optimization, 2nd ed.

Springer, 1999.

[94] R. Hooke and T. A. Jeeves, ““direct search” solution of nu-

merical and statistical problems,” J. ACM, vol. 8, no. 2, pp.
212–229, 1961.

[95] O. Serlin, “Scheduling of time critical processes,” in Proceedings

of AFIPS Spring Computing Conference, 1972, pp. 925–932.

[96] C. L. Liu and J. W. Layland, “Scheduling algorithms for multi-

programming in a hard-real-time environment,” Journal of the
ACM, vol. 20, no. 1, pp. 47–61, 1973.

[97] J. Y. T. Leung and J. Whitehead, “On the complexity of fixed-

priority scheduling of periodic, real-time tasks,” Performance
Evaluation, vol. 2, no. 4, pp. 237–250, 1982.

150
BIBLIOGRAPHY 151

[98] N. C. Audsley, “Optimal priority assignment and feasibility of

static priority tasks with arbitrary start times,” Department
of Computer Science, University of York, Tech. Rep. YCS 164,
December 1991.

[99] R. I. Davis and A. Burns, “Robust priority assignment for fixed

priority real-time systems,” in Proceedings of the 28th IEEE
Real-Time Systems Symposium, 2007, pp. 3–14.

[100] X. Feng and A. Mok, “A model of hierarchical real-time virtual

resources,” in Proceedings of the 23th IEEE Real-Time Systems
Symposium, 2002, pp. 26–35.

[101] G. Buttazzo and E. Bini, “Optimal dimensioning of a constant

bandwidth server,” in Proceedings of the 27th IEEE Real-Time
Systems Symposium, 2006, pp. 169–177.

[102] E. Bini, T. Huyen Châu Nguyen, P. Richard, and S. K. Baruah,

“A response-time bound in fixed-priority scheduling with ar-
bitrary deadlines,” IEEE Transactions on Computer, vol. 58,
no. 2, pp. 279–286, 2009.

[103] M. Bazaraa, H. Sherali, and C. Shetty, Nonlinear Programming:

Theory and Algorithms. Wiley, 2006.

[104] E. Bini and G. C. Buttazzo, “Measuring the performance of

schedulability tests,” Real-Time Systems, vol. 30, no. 1-2, pp.
129–154, 2005.

[105] D. C. Verma, H. Zhang, and D. Ferrari, “Delay jitter control

for real-time communication in a packet switching network,” in
Proceedings of the IEEE Conference on Communications Soft-
ware: Communications for Distributed Applications and Sys-
tems, 1991, pp. 35–43.

[106] A. K. Mok and X. A. Feng, “Towards compositionality in real-

time resource partitioning based on regularity bounds,” in Pro-
ceedings of the 22nd IEEE Real-Time Systems Symposium, 2001,
pp. 129–138.

[107] S. Baruah, G. C. Buttazzo, S. Gorinsky, and G. Lipari,

“Scheduling periodic task systems to minimize output jitter,”

151
152 BIBLIOGRAPHY

in Proceedings of the 6th IEEE Embedded and Real-Time Com-

puting Systems and Applications (RTCSA) Conference, 1999,
pp. 62–69.

[108] M. D. Natale and J. A. Stankovic, “Scheduling distributed real-

time tasks with minimum jitter,” IEEE Transactions on Com-
puters, vol. 49, no. 4, pp. 303–316, 2000.

[109] M. Westmijze, M. Bekooij, G. Smit, and M. Schrijver, “Evalu-

ation of scheduling heuristics for jitter reduction of real-time
streaming applications on multi-core general purpose hard-
ware,” in Proceedings of the 9th IEEE Symposium on Embed-
ded Systems for Real-Time Multimedia (ESTIMedia), 2011, pp.
140–146.

[110] ——, “Evaluation of scheduling heuristics for jitter reduction of

real-time streaming applications on multi-core general purpose
hardware,” in Proceedings of the 9th IEEE Symposium on Em-
bedded Systems for Real-Time Multimedia (ESTIMedia), Oct
2011, pp. 140–146.

[111] S. Hong, X. S. Hu, and M. Lemmon, “Reducing delay jitter of

real-time control tasks through adaptive deadline adjustments,”
in Euromicro Conference on Real-Time Systems, 2010, pp. 229–
238.

[112] L. T. X. Phan and I. Lee, “Improving schedulability of fixed-

priority real-time systems using shapers,” in Proceedings of the
19th IEEE Real-Time and Embedded Technology and Applica-
tions Symposium, 2013, pp. 217–226.

[113] B. Mochocki, X. S. Hu, R. Racu, and R. Ernst, “Dynamic volt-

age scaling for the schedulability of jitter-constrained real-time
embedded systems,” in IEEE/ACM International Conference
on Computer-Aided Design, 2005, pp. 446–449.

[114] D. Borgers and W. Heemels, “Event-separation properties of

event-triggered control systems,” IEEE Transactions on Auto-
matic Control, vol. 59, no. 10, pp. 2644–2656, 2014.

152
BIBLIOGRAPHY 153

[115] M. Donkers, P. Tabuada, and W. Heemels, “Minimum attention

control for linear systems,” Discrete Event Dynamic Systems,
vol. 24, no. 2, pp. 199–218, 2014.

[116] C. Sloth and R. Wisniewski, “Complete abstractions of dynam-

ical systems by timed automata,” Nonlinear Analysis: Hybrid
Systems, vol. 7, no. 1, pp. 80–100, 2013.

[117] E. Aydin Gol, X. Ding, M. Lazar, and C. Belta, “Finite bisim-

ulations for switched linear systems,” IEEE Transactions on
Automatic Control, vol. 59, no. 12, pp. 3122–3134, 2014.

[118] S. Boyd and L. Vandenberghe, Convex Optimization. New

York, NY, USA: Cambridge University Press, 2004.

[119] M. Stigge, N. Guan, and W. Yi, “Refinement-based exact

response-time analysis,” in the 26th Euromicro Conference on
Real-Time Systems (ECRTS), 2014, pp. 143–152.

153