Reducing control latency and jitter in real-time control

This paper analysis control computation latency and jitter, which have been largely ignored in the control community for real-time (RT) control. The focus is on RT control systems with multiple control tasks running on a uniprocessor. Three strategies are proposed to reduce control latency and/or jitter: introduction of offsets into control task scheduling decomposition of control tasks; and increasing the priority levels of output subtasks. Examples are given to demonstrate the effectiveness of the proposed methods.