The impact of QoT on feedback control systems Poster

It's common in controller design to assume that the controller reads the sensors and writes to the actuators at the same time instant. This assumption is often violated in practice because the controller executes its code sequentially on a microprocessor. If the microprocessor is "fast enough," often the controller will still work. However, if the sensing and control are done by two different devices that must communicate across a network, the resulting timing uncertainty due to network delays and clock offsets will often destabilize the controller. In this poster, we describe some theoretical results exploring the effect of "Quality of Time" on the ability to stabilize systems with disturbances or input saturation. We also describe a hardware platform for real-time controllers running on non-real-time operating systems.