Feedback Control Scheduling for Crane Control System

Feedback control theory has a long history. Real time computing systems integrated with feedback control theory are more robust against internal and external disturbances. Classical scheduling algorithms especially: Rate Monotonic and Early Deadline First cannot achieve the optimal possible Quality of Service (QoS) level that features real time constraints and requirements. In order to cope with the dynamic workloads and resource constraints, control scheduling co-design is very advantageous. Control scheduling co-design takes into account both the control techniques and the real time computing aspects simultaneously at design level. Unfortunately, over the past few years, there is no or a very small amount of work is done on the practical side. That´s why only a few real time systems, having feedback based control scheduling implemented, are actually deployed. This paper presents a case study of integrating feedback control scheduling algorithm for crane control systems to provide QoS in terms of system performance and resource utilization. This procedure is especially important for industrial automation.