Article thumbnail

Multirate Feedback Control Using the TinyRealTime Kernel

By Dan Henriksson and Anton Cervin


Embedded microcontrollers are often programmed in plain C and lacksupport for multithreading and real-time scheduling. This can makeit very cumbersome to implement multirate feedback controlapplications. We have developed the TinyRealTime kernel forthe Atmel ATmega8L AVR to show that it is feasible to usehigh-precision, deadline-based scheduling even in a tiny 8-bitprocessor with 1 KB of RAM. The kernel is demonstrated in amultirate control application, where six periodic real-time tasks(four control tasks and two PWM tasks) are used to control twoball-and-beam processes

Topics: Control Engineering
Publisher: 'Springer Science and Business Media LLC'
Year: 2004
DOI identifier: 10.1007/b101749
OAI identifier:
Download PDF:
Sorry, we are unable to provide the full text but you may find it at the following location(s):
  • (external link)
  • (external link)
  • (external link)
  • Suggested articles

    To submit an update or takedown request for this paper, please submit an Update/Correction/Removal Request.