Maximizing the stability radius of a set of systems under real-time scheduling constraints

We address the problem of synthesising real-time embedded controllers taking into account constraints deriving from the implementation platform, thus exploring the relation between the processor\´s time (or "attention") devoted to different control tasks and the overall robustness of the resulting design. Assuming a time-triggered model of computation for tasks controlling a set of independent systems and a real-time preemptive scheduling policy managing a single CPU processor board, we deal with two problems: 1) deciding whether a performance specification can be attained on a candidate platform, 2) optimising performance on a platform. The considered performance metric is the minimum stability radius attained over the different feedback loops.