A new critical compound laxity scheduling algorithm on NCS

The paper proposes a scheduling algorithm obeying the CL(Compound Laxity) rule for a kind of NCS (Networked Control System) with random delays. The CL scheduling is evolved from preemptive single processor real-time scheduling algorithms. Network-induced delay, dropout and jitter are inevitable when transmitting control information via shared closed-loop communication channel in NCS. Pointing to the above control problems caused by signal transmission, The paper algorithm takes all tasks into consideration to determine the moment optimal scheduling task priority due to the compound laxity, making sure all system tasks run with the critical deadline via the whole domain compound laxity, the algorithm realizes the task optimal scheduling globally. The example verified the validity of the algorithm.