Jitter sensitivity of a self-tuning input-constrained predictive controller

In this paper, the jitter sensitivity of a real-time embedded implementation of a self-tuning generalized predictive control algorithm will be experimentally investigated using a hardware-in-the-loop testing technique. The aim of the study was to explore the potential impacts of slew rate limits of the input of the controlled system on the performance of the controller when jitter is present. The paper also examines the effects of different preemption levels of the underlying earliest deadline first scheduler on the performance of the control system.