Optimal CPU allocation to a set of control tasks with soft real-time execution constraints

We consider a set of control tasks sharing a CPU and having stochastic execution requirements. Each task is associated with a deadline: when this constraint is violated the particular execution is dropped. Different choices of the scheduling parameters correspond to a different probability of deadline violation, which can be translated into a different level for the Quality of Control experienced by the feedback loop. For a particular choice of the metric quantifying the global QoC, we show how to find the optimal choice of the scheduling parameters. Copyright © 2013 ACM.