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| List of trademarks | |
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| Preface | |
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| Acknowledgements | |
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| Introduction | |
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| �� � � �������� � � (two parallel stories) | |
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| Control-based design as a means for convergence | |
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| A byte of systems theory | |
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| Dynamic systems | |
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| State-space representation | |
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| Motion, equilibrium, stability | |
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| The linear time-invariant (LTI) case | |
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| Motion and equilibrium | |
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| Stability | |
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| Input-output representation of LTI systems | |
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| The Z transform | |
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| The transfer function | |
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| Block diagrams | |
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| Series connection | |
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| Parallel connection | |
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| Feedback (loop) connection | |
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| The frequency response | |
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| Definition | |
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| Interpretation and use | |
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| Time domain responses | |
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| Impulse response of FIR systems | |
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| Impulse response of IIR systems | |
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| Step response of FIR and IIR systems | |
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| Concluding remarks | |
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| Problems | |
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| Modelling for computing systems | |
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| The quest for a computer physics | |
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| Modelling and simulation | |
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| Examples | |
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| Core allocation | |
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| Producer and consumer | |
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| Transmission over wireless sensor networks | |
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| Communication bandwidth partitioning | |
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| Concluding remarks | |
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| A byte of basic control theory | |
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| Specifications | |
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| Main control schemes | |
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| Feedback and its power | |
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| Feedback control synthesis | |
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| Synthesis by transfer function assignment (set point tracking) | |
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| Synthesis by transfer function assignment (disturbance rejection) | |
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| Synthesis by dominant pole assignment | |
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| Some typical feedback controllers | |
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| Proportional control | |
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| Integral control | |
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| Proportional-integral (PI) control | |
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| Standard controllers on simple plants | |
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| From controller model to control law | |
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| Managing control saturations | |
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| Problems | |
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| Scheduling | |
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| Modelling | |
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| The core phenomenon | |
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| Control synthesis | |
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| Inner loop | |
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| Outer loop | |
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| Complexity comparison with existing policies | |
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| Simulation example | |
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| Set point generation for (soft) real-time systems | |
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| Overload detection and rescaling | |
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| Reinitialisation and feedforward | |
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| Experimental results and comparisons | |
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| MiBench benchmark | |
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| Hartstone benchmark | |
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| Extended Hartstone benchmark | |
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| Summary of results | |
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| Set point generation for general purpose systems | |
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| Tasks with periodic deadlines | |
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| Tasks with a single deadline | |
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| Tasks without deadlines | |
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| Event-triggered tasks | |
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| Parameter setting | |
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| Simulation examples | |
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| Concluding remarks | |
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| Memory management | |
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| Problem statement | |
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| The plant model | |
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| Requirements | |
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| Control synthesis | |
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| Simulation results | |
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| Implementation-related considerations | |
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| Concluding remarks | |
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| A byte of advanced control techniques | |
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| Model Predictive Control | |
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| Predictive control | |
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| Review on predictive control techniques | |
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| State-space models | |
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| Predictive control within a single optimisation window | |
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| Prediction of state and output variables | |
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| Optimisation | |
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| Receding-horizon predictive control | |
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| Closed-loop control system | |
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| Model identification and adaptive systems | |
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| Least squares | |
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| Persistent excitation | |
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| Recursive least squares | |
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| Adaptive control techniques | |
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| Online identification and adaptive control | |
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| Adaptive identification | |
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| Adaptive identification algorithms with forgetting factor | |
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| Problems | |
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| Resource allocation | |
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| Literature review | |
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| Control-based design | |
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| Sensing | |
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| Actuation | |
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| Control | |
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| Heuristic | |
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| Basic control | |
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| Adaptive control | |
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| Modelling for advanced control | |
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| Regulating with tuning | |
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| Experimental results | |
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| Swaptions | |
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| Vips | |
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| Concluding remarks | |
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| Power-awareness | |
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| A case study | |
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| Step 1: Analysis, sensors and actuators | |
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| Step 2a: Data collection | |
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| Step 2b: Control design | |
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| Step 3: Control structure parameterisation | |
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| Experimental results | |
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| Generalisation | |
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| Step 1 | |
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| Step 2a | |
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| Step 2b | |
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| Step 3 | |
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| Concluding remarks | |
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| An experimental OS: Miosix | |
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| Motivations | |
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| Requirements and design decisions | |
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| Architecture of Miosix | |
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| The Miosix scheduler | |
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| Pluggable schedulers in Miosix | |
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| I+PI implementation in Miosix | |
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| Sensors and actuators | |
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| Context switch implementation | |
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| Future directions | |
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| Future perspectives and cyber-physical systems | |
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| Control-related concepts coverage | |
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| Problems not treated herein | |
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| Time synchronisation | |
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| Bandwidth scheduling | |
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| Peripheral and queue management | |
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| Envisaged extensions | |
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| Multi-core and multi-CPU scheduling | |
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| Bridging non-real-time and real-time | |
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| Thermal issues | |
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| A cyber-physical perspective | |
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| Code fragments | |
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| Simulation code | |
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| Bandwidth allocation simulation | |
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| Per-process swap-out partitioning | |
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| Full memory management simulator | |
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| Scheduler simulator | |
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| An implementation example | |
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| References | |
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| Index | |