Anton Cervin
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Timing-Robust Control over the Cloud Using On-Line Parametric Optimization Open
In this paper, we present a heuristic method for adapting a networked linear feedback controller to improve its robustness to timing complications, such as long delays, aborted computations, and dropped packets. The core concept of the app…
Improved event-based particle filtering in resource-constrained remote state estimation Open
Event-based sampling has been proposed as a general technique for lowering the average communication rate in remote state estimation, which can be important in scenarios with constraints on resources such as network bandwidth or sensor ene…
Dual Control by Reinforcement Learning Using Deep Hyperstate Transition Models Open
In dual control, the manipulated variables are used to both regulate the system and identify unknown parameters. The joint probability distribution of the system state and the parameters is known as the hyperstate. The paper proposes a met…
Improving the mean-field fluid model of processor sharing queueing networks for dynamic performance models in cloud computing Open
Resource management in cloud computing is a difficult problem, as one is often tasked with balancing between adequate service to clients and cost minimization in dynamic environments of many interconnected components. To make correct decis…
Stability and Performance Analysis of Control Systems Subject to Bursts of Deadline Misses Open
Control systems are by design robust to various disturbances, ranging from noise to unmodelled dynamics. Recent work on the weakly hard model - applied to controllers - has shown that control tasks can also be inherently robust to deadline…
LQG-Optimal versus Simple Event-Based PID Controllers Open
In this paper, we study event-based PID control from an optimal stochastic control perspective. The purpose is to better understand what implementation features are critical for achieving good event-based PID performance. For this end, we …
Performance Optimization of Control Applications on Fog Computing Platforms Using Scheduling and Isolation Open
Article in Journal
Performance Optimization of Control Applications on Fog Computing Platforms Using Scheduling and Isolation Open
In this paper, we address mixed-criticality applications characterized by their safety criticality and time-dependent performance, which are virtualized on a Fog Computing Platform (FCP). The FCP is implemented as a set of interconnected m…
Using JitterTime to Analyze Transient Performance in Adaptive and Reconfigurable Control Systems Open
Publication in Conference proceedings/Workshop
Using JitterTime to Analyze Transient Performance in Adaptive and Reconfigurable Control Systems Open
This paper presents JitterTime, a small Matlab toolbox for calculating the transient performance of a control system in non-ideal timing scenarios.Such scenarios arise in networked and embedded systems, where several applications share a s…
Event-Based State Estimation Using the Auxiliary Particle Filter Open
Event-based sampling provides a way of lowering the resource utilization in sensing and communication applications. By sending a sample only when some triggering condition is fulfilled, we can ensure that the transmitted samples actually c…
Towards quality-of-control aware scheduling of Industrial applications on fog computing platfrom Open
Publication in Conference proceedings/Workshop
JitterTime 1.0—Reference Manual Open
This technical report describes JitterTime, a Matlab toolbox for calculating the time-varying state covariance of a mixed continuous/discrete linear system driven by white noise. It also integrates a quadratic cost function for the system.…
DMAC: Deadline-Miss-Aware Control (Artifact) Open
The real-time implementation of periodic controllers requires solving a co-design problem, in which the choice of the controller sampling period is a crucial element. Classic design techniques limit the period exploration to safe values, t…
DMAC: Deadline-Miss-Aware Control Open
The real-time implementation of periodic controllers requires solving a co-design problem, in which the choice of the controller sampling period is a crucial element. Classic design techniques limit the period exploration to safe values, t…
Event-Based Control and Estimation of Server Systems Open
Feedback control is increasingly being applied in server systems to make them more robust and efficient. This includes managing quality of service, minimizing power consumption, and adapting to varying workloads. Successful adaptation and …
Internal Server State Estimation Using Event-based Particle Filtering Open
Closed-loop control of cloud resources requires there to be measurements readily available from the process in order to use the feedback mechanism to form a control law. If utilizing state-feedback control, sought states might be unfeasibl…
Jitter-Robust LQG Control and Real-Time Scheduling Co-Design Open
In real-time control systems, varying task response times may lead to delays and jitter in the delays in the feedback control loops, which adversely affects both performance and robustness. Standard LQG control design does not give any gua…
When is PID a good choice? Open
A new and freely available model-based PID design tool for Matlab is introduced. It can be used to solve Maximal Integral Gain Optimization (MIGO) and (load) Integral Absolute Error (IAE) problems. Robustness is ensured through H-inf const…
On event-based sampling for LQG-optimal control Open
We consider the problem of finding an event-based sampling scheme that optimizes the trade-off between average sampling rate and control performance in a linear-quadratic-Gaussian (LQG) control problem setting with output feedback. Our ana…
Control-Quality-Driven Design of Embedded Control Systems with Stability Guarantees Open
Today, the majority of control applications in embedded systems, e.g., in the automotive domain, are implemented as software tasks on shared platforms. Ignoring implementation impacts during the design of embedded control systems results i…
On Event-Based Sampling for $\mathcal{H}_2$-Optimal Control Open
We consider the problem of finding an event-based sampling scheme that optimizes the trade-off between average sampling rate and control performance in a linear-quadratic-Gaussian (LQG) control problem setting with output feedback. Our ana…
On Event-Based Sampling for LQG-Optimal Control Open
We consider the problem of finding an event-based sampling scheme that optimizes the trade-off between average sampling rate and control performance in a linear-quadratic-Gaussian (LQG) control problem setting with output feedback. Our ana…
LQG-Based Scheduling and Control Co-Design Using Harmonic Task Periods Open
Harmonic task scheduling has many attractive properties, including a utilization bound of 100% under rate-monotonic scheduling and reduced jitter. At the same time, it places a severe constraint on the task period assignment for any applic…
Harmonic Scheduling and Control Co-design Open
Harmonic task scheduling has many attractive properties, including a utilization bound of 100% under rate-monotonic scheduling and reduced jitter. At the same time, it places a severe constraint on the task period assignment for any applic…
LQG-optimal PI and PID control as benchmarks for event-based control Open
We formulate two simple benchmark problems for event-based control, where the optimal solutions in the continuous-time setting turn out to be ordinary PI and PID controllers. The benchmarks can be used to compare the performance of continu…
Event-based state estimation using an improved stochastic send-on-delta sampling scheme Open
Event-based sensing and communication holds the promise of lower resource utilization and/or better performance for remote state estimation applications found in e.g. networked control systems. Recently, stochastic event-triggering rules h…