Implementing Flexible Embedded Control on a Simple Real-Time Multitasking Kernel

In recent years, approaches to control performance and resource optimization for embedded control systems have been receiving increased attention. Most of them focus on theory, whereas practical aspects are omitted. Theoretical advances demand flexible real-time kernel support for multi-tasking and pre-emption, thus requiring more sophisticated and expensive software/hardware solutions. On the other hand, embedded control systems often have cost constraints related with mass production and strong industrial competition, thus demanding low cost solutions. In this paper it is shown that these conflicting demands can be softened and that a compromise solution can be reached. First, a simple multi-tasking pre-emptive real-time kernel targeting low cost microprocessors is presented. Second, the implementation on the kernel of recent research results on optimal resource management for control tasks is reported. The experimental evaluation shows that significant control performance improvement can be achieved without increasing hardware costs.