Integration of off-line scheduling and optimal control

A novel method for offline scheduling is proposed where the periodic task model does not contain the usual task period parameter. This is possible because the scheduling is integrated with control theory. A slot length defines the granularity of schedule and the optimal control theory tells us what the best offline static cyclic schedule is with respect to the overall system performance. The optimal control theory used here is periodic linear quadratic control and should be comprehensible to the control engineer versed in state space theory. The scheduled resource is fairly divided among the controllers by paying respect to their needs when rejecting disturbances acting on the plant