Scheduling and control co-design under end-to-end response time constraints in cyber-physical systems

In this paper, we propose an optimization approach for robust control design with end-to-end response time constraints in a multi-resource cyber-physical systems (CPS). We introduce a rigorous performance metric for robust system design from the control theoretic viewpoint. Then, we investigate the impact of end-to-end response time analysis techniques on the control performance. We show that the traditional per-job response time analysis significantly degrades the control performance when real-time tasks visit a resource multiple times. We demonstrate that we can meaningfully improve the control performance by adopting the recently-developed per-resource response time analysis. Our simulation results verify the effectiveness of the proposed co-design framework.