Delay Analysis of Sampled-Data Systems in Hard RTOS
In this paper, we have presented the effect of varying
time-delays on performance and stability in the single-channel multirate
sampled-data system in hard real-time (RT-Linux) environment.
The sampling task require response time that might exceed the
capacity of RT-Linux. So a straight implementation with RT-Linux is
not feasible, because of the latency of the systems and hence,
sampling period should be less to handle this task. The best sampling
rate is chosen for the sampled-data system, which is the slowest rate
meets all performance requirements. RT-Linux is consistent with its
specifications and the resolution of the real-time is considered 0.01
seconds to achieve an efficient result. The test results of our
laboratory experiment shows that the multi-rate control technique in
hard real-time operating system (RTOS) can improve the stability
problem caused by the random access delays and asynchronization.
Multi-rate, PID, RT-Linux, Sampled-data, Servo.