A real-time feedback scheduler based on control error for environmental energy harvesting systems

This paper addresses a real-time scheduling problem inherent to energy harvesting real-time systems. Traditionally, the energy saving problem is solved mainly by taking into account the tasks scheduling parameters such as worst-case execution time and period. In this work, we construct a feedback control scheduling scheme in which a discrete processor speed is assigned according to the control error and available energy. The real-time control tasks would get high processor speeds when their control errors increase. The experimental evaluation of this solution verifies that the feedback scheduling system based on control error gives a good compromise between available energy and systems performance.