CprE 458/558: Real-Time SystemsFeedback control Scheduling --motivationFeedback scheduling – motivation (contd.)Feedback Control ConceptsFeedback System OperationFeedback system operation (contd.)FC-EDFFC-EDF -- VariablesFC-EDF SchematicSlide 10CprE 458/558: Real-Time Systems (G. Manimaran) 1CprE 458/558: Real-Time Systems Feedback Control based EDF SchedulingReference: C. Lu, J.A. Stankovic, G. Tao, and S.H. Son, "Design and Evaluation of a Feedback Control EDF Scheduling Algorithm," In Proc. Real-Time Systems Symp. pp.56-67, 1999.CprE 458/558: Real-Time Systems (G. Manimaran) 2Feedback control Scheduling --motivation•Even though, open-loop scheduling paradigms perform well in static or dynamic systems in which the workload can be accurately modeled, they perform poorly in unpredictable dynamic systems where the workload cannot be accurately modeled.•Unfortunately, many complex applications, such as robotics and agile manufacturing, are dynamic and operate in a fault-prone non-deterministic environment wherein precise workload characterization is difficult. •Therefore, it is evident that the system designers are faced with the challenge of building real-time systems that provide predictable performance in a highly uncertain environment.•Thus, there is a clear need for developing adaptive resource management that dynamically addresses real-time constraints and provide graceful degradation in the presence of uncertainty in workload and faults.CprE 458/558: Real-Time Systems (G. Manimaran) 3Feedback scheduling – motivation (contd.)One of the very successful areas in addressing performance in the presence of uncertainty is that of Robust Control. Feedback of measured quantities to correct the behavior of a system has been a powerful concept that has made technological advances in applications such as amplifiers and avionics.Through concerted use of feedback control and its theoretical development, the concept has been used to deal with uncertainty inherent in most systems.It also needs to be stated that if a system characteristics is known precisely, then the feedback strategies are not useful; the open-loop strategies will outperform their feedback counterpart.CprE 458/558: Real-Time Systems (G. Manimaran) 4Feedback Control ConceptsFigure 1: Feedback Control Scheduling System•Variables–Exogenous Variables–Control Variables–Regulated Variables–Measured VariablesCprE 458/558: Real-Time Systems (G. Manimaran) 5Feedback System Operation•A typical feedback control system is composed of a controller, a plant to be controlled, actuators, and sensors. •Controlled/regulated variable, the quantity of the output that is measured and controlled/regulated. •The set point represents the correct value of the controlled variable.•The difference between the current value of the controlled variable and the set point is the error.•The manipulated/control variable is the quantity that is varied by the controller so as to affect the value of the controlled/regulated variable.CprE 458/558: Real-Time Systems (G. Manimaran) 6Feedback system operation (contd.)The system is composed of a feedback loop as follows. •The system periodically measures and compares the controlled variable to the set point to determine the error. •The controller computes the required control with the control function of the system based on the error. •The actuators change the value of the manipulated variable to control the system.CprE 458/558: Real-Time Systems (G. Manimaran) 7FC-EDF•Task Model- Each Ti has logical versions:- Each version has different execution time: suppose - Each version has different accuracy: - Each task has a soft deadline and a start time - Different versions of a task are called service levels.- A version with longer execution time and better accuracy is called a higher service level.),,,,( DSAETITi),.. .,(21 ikiiTTTI },...,{21 ikiiETETETET ikiiETETET  ...21},...,{21 ikiiAAAA iDiSCprE 458/558: Real-Time Systems (G. Manimaran) 8FC-EDF -- Variables•Set point: desired miss ratio •Regulated/Measured variable: miss ratio•Control variable: requested CPU utilization•Actuators: Server Level Controller & Admission Controller– use server level controller, if the requirements are not satisfied, use admission controller.taskssubmittedtasksmissedratiomiss##timecurrentdeadlinetimeexecutionnutilizatioCPUrequestedCprE 458/558: Real-Time Systems (G. Manimaran) 9FC-EDF SchematicCprE 458/558: Real-Time Systems (G. Manimaran) 10FC-EDF•PID Parameters Tuning–Simulation experiments–Modeling analysis–Adaptive control to tune the parameters on-line[Read the paper for