Q. Gao, L.J. Brown, and L.F. Capretz


Real-time software, computer-aided control design, manufacturingsystems, real-time control systems, real-time scheduling theory


The use of object-oriented techniques and methodologies to design real-time control systems appears to be necessary in order to deal with the increasing complexity of such systems. Recently, many object-oriented methods have been used for the modelling and de- signing of real-time control systems. We believe an approach that integrates the advancements in both object modelling and design methods, and real-time scheduling theory is a key to the successful use of object-oriented technology for real-time software. However, past approaches to integrate the two either have restricted the object models, or did not allow sophisticated schedulability analysis techniques. In this paper, we show the manner in which schedu- lability analysis can be integrated with object-oriented design; we develop the schedulability and feasibility analysis method for exter- nal messages that may suffer release jitter due to being dispatched by a tick-driven scheduler in real-time control system; and we also develop the schedulability method for sporadic activities, where messages arrive sporadically and are then executed periodically for some bounded time. This method can be used to cope with timing constraints in complex real-time control systems.

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