The Impact of Deadline Misses on the Control Performance of High-End Motion Control Systems

—In high-end motion control systems the real-time computational platform must execute tasks from multiple control loops operating at high sampling rates. In recent years traditional special-purpose platforms have been replaced by generalpurpose multi-processor platforms, which introduce significant fluctuations in execution times. While considering worst-case execution times would severely reduce the sampling rates, accepting deadline misses and assuring that the control system still meets the desired specifications is challenging. In this paper, we provide a framework to model and assert the impact of deadline misses in a real-time control loop. We consider stochastic models for deadline misses and characterize the mean and the variance of closed-loop output variables based on a time-domain analysis. We illustrate the usefulness of our framework in the control of a benchmark motion control experimental setup and in the control of a wafer stage in a lithographic machine. Keywords�...

• Type: Journal
• Year: 2016
• Where: TIE
• Authors: W. Geelen, Duarte Antunes, Jeroen Voeten, Ramon R. H. Schiffelers, W. P. M. H. Heemels
• Keywords: TIE 2016