Intern
ati
o
n
a
l
Journ
a
l of
Re
con
f
igur
able
and Embe
dded
Sys
t
ems
(I
JRES)
V
o
l.
4, N
o
. 1
,
Mar
c
h
20
15
,
pp
. 22
~27
I
S
SN
: 208
9-4
8
6
4
22
Jo
urn
a
l
h
o
me
pa
ge
: h
ttp
://iaesjo
u
r
na
l.com/
o
n
lin
e/ind
e
x.ph
p
/
IJRES
The E
x
perim
e
ntal Platf
orm Desi
gn for NCS Based on CAN Bus
Z
h
ao
Wei
q
ua
n, Yu
an Hu
aq
i
a
ng
,
Wei
X
i
a
o
rui
Computer College, Donggu
an U
n
iversity
of
Technolog
y
,
Dongg
uan 523808, China
Article Info
A
B
STRAC
T
Article histo
r
y:
Received Aug 1, 2014
Rev
i
sed
No
v 2, 201
4
Accepte
d Dec 3, 2014
In order to fa
ci
lita
te r
e
sear
ch o
n
the perform
a
n
ce of Network
e
d Control
S
y
s
t
em
, ov
erco
m
e
the
defe
cts
of unabl
e
to r
e
fl
ect
the
s
y
s
t
em
p
e
rform
ance
,
based on the CAN bus a kind of
NCS expe
rimental platform
is designed. Th
e
s
y
s
t
em
is
com
pos
ed of
a m
a
in
no
de and
s
e
ver
a
l
s
l
ave nod
es
and
Dc m
o
tor
as
the actuator. Th
e master node is designed with
ARM + U-boo
t + Linu
x
structure, conn
ecting with PC
via Ethe
rn
et. For this exp
e
riment platform,
using c
+ + Builder
a sch
e
dulin
g algor
ith
m pe
rforma
nc
e
te
st
i
n
g
soft
wa
re
i
s
develop
e
d,
to fur
t
her r
e
search
on
the ef
fects of dif
f
erent schedulin
g algorithm
on the NCS perf
ormance.
Keyword:
Net
w
or
ke
d c
o
n
t
rol
sy
st
em
Ex
peri
m
e
nt
al
pl
at
form
CAN b
u
s
Sche
dul
i
n
g al
g
o
ri
t
h
m
C
o
m
pone
nt
Copyright ©
201
5 Institut
e
o
f
Ad
vanced
Engin
eer
ing and S
c
i
e
nce.
All rights re
se
rve
d
.
Co
rresp
ond
i
ng
Autho
r
:
Zha
o
Weiquan,
C
o
m
put
er C
o
l
l
ege,
D
o
n
g
gua
n
U
n
i
v
e
r
si
t
y
of
Tech
nol
ogy
,
D
o
n
g
gua
n
5
2
3
8
0
8
,
C
h
i
n
a.
Em
a
il: zh
ao
wq@dgu
t.edu
.
cn
1.
INTRODUCTION
Networke
d Control System
s
(NCS), with networke
d
st
ruc
t
ure
a
n
d
decentralized m
a
nage
m
e
nt a
nd
n
e
two
r
k
n
o
d
e
i
n
tellig
en
t,
o
v
e
rco
m
e th
e co
mp
lex
p
r
ob
lem
o
f
trad
itio
nal co
n
t
ro
l system
,
su
ch
as redu
cin
g
t
h
e
am
ount
o
f
i
n
f
o
rm
at
i
on t
r
a
n
s
m
i
ssi
on,
di
f
f
i
c
ul
t
t
o
e
x
t
e
n
s
i
o
n,
hi
gh
cost
e
t
c. O
n
t
h
e
ot
h
e
r
han
d
,
due
t
o
t
h
e
com
m
uni
cat
i
on
net
w
or
k i
s
i
n
t
r
o
duce
d
i
n
t
o
t
h
e cl
o
s
ed
-l
o
o
p
co
nt
r
o
l
sy
st
em
,
m
a
ny
pr
o
b
l
e
m
has ca
used
suc
h
as
n
e
two
r
k
i
n
du
ced
d
e
lay, n
e
t
w
o
r
k
con
g
e
stion, p
a
ck
et lo
ss,
no
nun
iv
er
sal pro
t
o
c
o
l
. Th
e
d
i
scu
ssion
aro
und th
ese
issu
es is
b
ecomin
g
a r
e
sear
ch
ho
tsp
o
t
o
f
sch
o
l
ar
s
b
o
t
h
at h
o
m
e an
d
abro
ad. Th
e study o
f
n
e
two
r
k
co
n
t
r
o
l
syste
m
sh
ou
ld reflect
no
t
o
n
ly th
e con
t
ro
l
featu
r
es
(t
ransitio
n
p
r
o
cess,
stab
ility,
etc.), b
u
t
also
t
h
e network
feat
ure
s
(
bus t
y
pe, net
w
o
r
k s
p
eed
, et
c.). T
h
e st
udy
m
e
t
h
o
d
o
f
net
w
o
r
ke
d co
nt
r
o
l
sy
st
em
can be di
vi
d
e
d i
n
t
o
:
sim
u
l
a
t
i
on, e
x
peri
m
e
nt
al
pl
at
fo
rm
for
val
i
d
a
t
i
on, et
c.
[
1
-
3
]
In
orde
r to ca
rry out the
res
earch a
n
d applicati
on of
net
w
o
r
k
e
d c
o
nt
ro
l
sy
st
em
s effect
i
v
el
y
,
t
h
e
t
y
pi
cal
experi
m
e
nt
pl
at
form
i
s
necessary
.
W
i
t
h
C
A
N (C
ont
rol
A
r
ea Ne
t
w
o
r
k
)
as co
nt
rol
net
w
o
r
k
,
D
C
m
o
t
o
r
as actu
a
to
r stru
ctures, a typ
i
cal ex
p
e
rim
e
n
t
p
l
atform
is b
u
ilt [4
-5
]. Experim
e
n
t
al
p
l
atfo
rm
co
n
s
ists of two
k
i
nd
s o
f
nod
e w
h
ich
co
nn
ect
ed
w
ith
C
A
N,
t
h
e m
a
ster node
and sla
v
e
node.
The m
a
ster node functions a
s
: receive and proc
e
ss the inform
ation from
slave node
and
network
i
n
f
o
rm
at
i
on, i
m
pl
em
ent
net
w
o
r
k
re
so
urce
sche
d
u
l
i
n
g
b
y
per
f
o
r
m
i
ng
a co
nt
r
o
l
st
rat
e
gy
an
d
sche
dul
i
n
g
al
go
ri
t
h
m
.
The sl
ave no
des (i
ncl
u
di
n
g
m
o
t
o
r dri
v
i
n
g n
o
d
e,
t
h
e si
gnal
acq
ui
si
t
i
on n
o
d
e)
fu
nct
i
o
n as fol
l
ows:
real
i
ze dri
v
i
n
g
m
o
t
o
r, col
l
e
c
t
i
ng co
nt
r
o
l
i
n
fo
rm
ati
on, et
c.
The no
de di
a
g
ram
of expe
r
i
m
e
nt
al
pl
at
for
m
is
sho
w
n i
n
fi
gu
r
e
1.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
SN
:
2
089
-48
64
I
J
RES Vo
l. 4
,
N
o
. 1
,
Mar
c
h
20
15
:
22
–
27
23
Fi
gu
re
1.
N
o
de
Di
ag
ram
of E
xpe
ri
m
e
nt
al
Plat
form
2.
THE CA
N MA
STER NODE D
E
SIGN
A.
The CAN Master
Node Har
d
ware
Design
Co
m
b
in
ed
w
ith
th
e adv
a
n
t
ag
es
o
f
Linux and
LPC
2
2
9
4
w
ith
CAN
b
u
s
con
t
ro
ller in
tegr
ated,
tr
an
sp
lan
ting
Lin
u
x
syste
m
in
to
t
h
e
A
R
M p
l
atfo
r
m
, th
e
CA
N bu
s node pr
o
t
o
t
yp
e is
i
m
p
l
e
m
en
ted
[6
]. Th
e
speci
fi
c desi
gn
of n
ode i
n
cl
u
d
e
s:
hard
wa
re sel
ect
i
on,
so
ftw
a
re platfo
rm
choice,
ha
rdw
a
re cir
c
u
it d
e
sign
,
PCB
(Pri
nt
ed ci
rc
ui
t
boar
d
) desi
g
n
,
wel
d
i
n
g com
pone
nt
s an
d de
bu
g
g
i
n
g, t
r
a
n
s
p
l
a
nt
i
n
g so
ft
w
a
re pl
at
fo
rm
, overal
l
syste
m
test, etc
.
B.
The CAN Master
Node Software De
sign
B
a
sed
on
PC
B
desi
g
n
o
f
m
a
st
er no
de
,
soft
ware
desi
g
n
begi
ns.
T
h
e
speci
fi
c
w
o
r
k
i
n
cl
ud
es:
t
r
ans
p
l
a
nt
i
n
g
B
oot
l
o
a
d
er
pr
og
ram
U-B
o
ot
,
t
r
ans
p
l
a
nt
i
n
g
Li
nu
x O
S
. T
h
e
next
jo
b aft
e
r
com
p
l
e
t
i
on of
sy
st
em
b
o
o
t
also
in
cl
u
d
e
: lo
ad
ing
t
h
e ro
o
t
file syste
m
, sto
r
in
g
ex
tern
al app
licatio
n
file syste
m
, tran
sp
lan
tin
g
t
h
e
un
de
rl
y
i
ng
har
d
wa
re d
r
i
v
e
r
(
i
ncl
udi
ng
Na
n
d
fl
as
h d
r
i
v
e
r
,
C
AN
bu
s d
r
i
v
er, Et
he
r
n
et
card
dri
v
er
, et
c)
[7]
.
Sy
st
em
t
r
anspl
a
nt
i
ng sc
hem
e
sho
w
n i
n
fi
gu
re 3,
w
h
i
c
h
u
C
Li
nu
x i
s
uC
Li
nu
x
2
0
0
8
0
8
base
d o
n
Li
n
u
x
2
.
6
.
2
5
.
After c
o
m
p
leting the
kernel trans
p
lant
ation success
f
ully, the root file sy
ste
m
made of busybox1.0, YAFFS2
as Na
n
d
Fl
ash
s
t
ora
g
e fi
l
e
sy
st
em
. The
fram
e
of
so
ft
wa
re sy
s
t
em
port
i
n
g i
s
sho
w
n i
n
fi
gu
r
e
2.
Fi
gu
re
2.
The
f
r
am
e of s
o
ft
wa
re sy
st
em
port
i
n
g
C.
U-b
o
ot confi
g
uration
Give
n
U-B
oot
confi
g
uration does
not
support
visual
int
e
rface, to a
c
hi
eve the
re
quired functions needing
m
odi
fy
i
ng t
h
e m
acro de
fi
ni
t
i
on c
ont
ai
ned i
n
t
h
e hea
d
er
fi
l
e
[8]
.
U-B
o
ot
con
f
i
g
urat
i
o
n s
h
o
w
n i
n
t
h
e fi
gu
re 3
,
i
n
cl
udi
ng
t
h
e
f
o
l
l
o
wi
ng
fi
ve
p
a
rt
s:
Pro
cesso
r a
r
c
h
i
t
ect
ure:
ch
o
o
se
AR
M
7
as
pr
oc
essor
,
s
u
pp
ort
i
ng
1
6
-
bi
t
T
H
U
M
B
i
n
st
ruct
i
o
n
set
,
LPC
2
29
4.
Ethernet card:
select RTL801
9,
LA
N
IP a
n
d
NFS
ser
v
er
I
P
need
s t
o
be
co
nfi
g
u
r
ed
.
NandFlas
h storage: select base ope
rating range of
the
NandFlas
h, c
h
oos
e yaffs
2 as
NandFlas
h fi
le
syste
m
form
at.
C
o
m
m
a
nd:
set
U-B
oot
e
n
vi
r
o
nm
ent
vari
abl
e
s an
d t
h
e s
u
p
p
o
rt
e
d
C
o
m
m
and
fo
r
U-B
oot
.
Lin
u
x
star
t
u
p
:
RA
M star
tin
g ad
dr
ess ch
o
i
ce, th
e r
e
q
u
i
r
e
d tr
an
sm
issio
n
p
a
r
a
m
e
ter
selectio
n
fo
r
Linux
starts.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
RES I
S
SN
:
208
8-8
7
0
8
The Experi
men
t
al
Pl
at
f
o
r
m
D
e
si
gn
f
o
r
N
C
S Base
d on
C
A
N
Bus
(Zhao
Wei
q
uan
)
24
Fi
gu
re
3.
C
o
nfi
g
u
r
at
i
o
n sc
hem
e
o
f
U-
bo
ot
D.
Transpl
a
ntin
g Linux
OS
Beca
use
th
e
em
bedde
d sy
stem
is resou
r
ce-cons
trai
ne
d sy
stem
, the ge
neric
Li
nu
x ca
nn
ot
b
e
direc
tly
use
d
.
The em
bedde
d Lin
u
x
,
w
h
ic
h Lin
ux
is cut
and sim
p
lifie
d, sol
i
d
i
fie
d
i
n
em
bedded s
y
stem
me
m
o
ry.
The arc
h
of
t
h
e
e
m
bedded
Li
n
u
x
/
s
ubdirectory contains all t
h
e
kern
el c
ode associate
d
with the
hardware. The core of
Mi
grati
on
is reconfigured
a
n
d
co
m
p
ilation to t
h
e file
in the
arc
h
/s
ubdi
rectory. Because
th
e u
C
Linu
x
2
.
6
.
2
5
su
ppo
rt CAN
d
r
iv
e, from th
e v
i
ew o
f
safety an
d
reli
ab
ility p
o
i
n
t
, ch
oo
se u
C
Li
nux
2.6.25
as driv
er co
d
e
.
Th
e tran
sp
lan
t
i
n
g pro
cess
n
e
ed
s t
o
co
m
p
lete
th
e fo
llowing
:
In
stallin
g patch
for LPC22
94;
C
o
n
f
i
g
urat
i
o
n Nan
d
Fl
as
h dri
v
er;
C
o
n
f
i
g
urat
i
o
n Li
nu
x
c
o
re;
Cro
s
s-co
m
p
ilin
g th
e
Linu
x kern
el.
Fi
gu
re
4.
Li
n
u
x
P
o
rt
i
n
g
Pr
oc
edu
r
e
Schem
e
Because there
is not the MMU (Mem
ory Managem
e
nt Un
i
t
) Unit in LPC2294, it is unable to run Linux. To
ru
n
uC
Li
n
u
x
,
u
C
Li
nu
x
pat
c
he
s ha
ve t
o
be l
o
ad.
The
re
qui
re
d
doc
um
ent
s
and
pat
c
hes as
s
h
o
w
n i
n
t
a
bl
e
I
.
Tabl
e 1. N
ode
fu
nct
i
o
n descri
pt
i
o
n
t
a
bl
e
Na
m
e
Patch
File Na
m
e
uClinux core
uClinux-
d
ist-
200
8
0808.
tar.
g
z
Linux core
linux-
2
.
6
.
25.
tar.
bz
2
Cross compile tool
s
arm-
uclinux-
e
lf-
tools-
base-
gcc3.
4
.
3
-
2005
022
1.
sh
P
a
tch1 linux-
2
.
6
.
25-
uc0-
b
i
g.
patch.
g
z
Patch2 linux-2.6.21-
uc0-lpc2468.diff
P
a
tch3 uClinux-
d
ist-
200
7
0130-
nxp-
lpc2
468.
tgz
3.
PLATFO
RM
TESTING (T
HE CO
MM
U
N
IC
ATIO
N B
ETWEEN A
TYPIC
A
L SE
NSO
R
SL
AV
E
NODE WIT
H
THE MAST
ER NODE
)
Use t
h
e
C
A
N
no
de as
m
a
st
er
no
de
, wi
t
h
co
rres
p
on
di
n
g
sl
ave
no
des
(C
A
N
-St
a
rt
II
f
r
om
Gu
an
gz
ho
u
zh
iyu
a
n Co.).
W
ith
stepp
i
ng
m
o
to
r and
m
o
to
r d
r
i
v
er
an
d o
t
h
e
r auxiliary circu
it stru
ctures, a t
y
p
i
cal
n
e
two
r
k
e
d
con
t
ro
l system
e
x
p
e
rim
e
n
t
al p
l
atfo
rm
is
bu
ilt; syste
m
stru
ctu
r
e is
sho
w
n
in fi
g
u
re
5
.
No
d
e
fun
c
tion
d
e
scri
p
tio
n tab
l
e is
sh
own
in tab
l
e
II.
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64
I
J
RES Vo
l. 4
,
N
o
. 1
,
Mar
c
h
20
15
:
22
–
27
25
Fi
gu
re
5.
Wh
ol
e st
ruct
ure
di
a
g
ram
of e
x
peri
m
e
nt
al
pl
at
fo
r
m
Tabl
e 2. N
ode
fu
nct
i
o
n descri
pt
i
o
n
t
a
bl
e
Node Na
m
e
Functional Description
Master
node
Control alg
o
rithm (
m
otor speed P
I
D
control an
d collect
network informati
on to realize netwo
r
k scheduling alg
o
r
ithm
Slave
node1
Receive
control value from the maste
r
node, driving stepper
motor rotation
Slave
node2
Collect motor encoder pulse,
sent to the master node,
for
motor speed contr
o
l algorithm calcul
ation
Interferenc
e node
The node has not
hi
ng to do with the control system functions,
send periodic dat
a
transmission ta
sk,
used to imitate the
other nodes in the
network to
the influence of the network
data transmissi
on
PC
R
unning testing so
ftware of the experiment platform,
display
the current networ
k status
Th
e co
mm
u
n
i
catio
n
b
a
ud
rate is set to
1
MB/s, th
e CAN bu
s
p
ack
et t
r
an
sm
issio
n
time is 1
u
s
in
expe
rim
e
nt. As
sum
e
that the
packet fro
m
sen
s
o
r
to con
t
ro
ller is t
h
e sam
e
si
ze as the
packe
t
from
controller t
o
trig
g
e
r,
u
s
ing
co
mm
o
n
tran
smissio
n
8
b
y
tes d
a
ta fram
e
fo
rmat, n
o
t
con
s
i
d
eri
n
g
a
fillin
g cases,
n
eed
111
b
its,
so
t
h
e tran
sm
is
sio
n
ti
m
e
o
f
a fram
e is 1
1
1
us.
Step
p
e
r m
o
to
r is th
e con
t
rol u
n
it th
at turn
s th
e electrical p
o
wer
pu
lse sig
n
a
l i
n
to
th
e angu
lar
displacem
ent
or
displacem
e
n
t. As long as the num
ber
of control input electrical
pulse fre
que
ncy and t
h
e
pha
se seq
u
enc
e
of el
ect
ri
c m
o
t
o
r wi
ndi
ng
i
s
i
n
cont
r
o
l
,
t
h
e req
u
i
r
e
d
rot
a
t
i
o
n spee
d
and t
h
e
di
rec
t
i
on o
f
rotation can
be
obtaine
d.
The
m
echanical di
splacem
ent
and rotating s
p
ee
d is res
p
ective
l
y proportional with
t
h
e pul
se
num
ber a
nd
fre
que
ncy
of t
h
e i
n
p
u
t
m
o
t
o
r wi
ndi
ng
. R
o
t
a
t
i
ng
A
ngl
e i
s
det
e
rm
ined
by
t
h
e n
u
m
ber of
pul
ses
,
a
n
d
t
h
e
spee
d
of
t
h
e m
o
t
o
r i
s
det
e
rm
ined
by
t
h
e
pul
s
e
fre
q
u
ency
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
RES I
S
SN
:
208
8-8
7
0
8
The Experi
mental
Platfor
m
Design
for
NC
S Base
d on
CAN Bus
(Zhao
Wei
q
uan
)
26
Fig
u
re 6
.
Test resu
lts figu
re with
ou
t
sch
e
d
u
lin
g
algorith
m
Up
o
n
com
p
l
e
t
i
on
o
f
t
h
e e
x
pe
ri
m
e
nt
al
pl
at
form
hard
ware a
nd
d
r
i
v
e
r
de
si
gn
, u
s
i
n
g c++
B
u
i
l
d
er,
t
h
e
per
f
o
r
m
a
nce t
e
st
i
ng sc
he
dul
i
n
g al
g
o
r
i
t
h
m
soft
ware
f
o
r
t
h
e
expe
ri
m
e
nt
al
pl
at
form
i
s
deve
l
ope
d.
Acc
o
rd
i
ng t
o
di
ffe
re
nt
sche
d
u
l
i
ng al
go
ri
t
h
m
,
observe t
h
e
devi
at
i
o
n o
f
t
h
e act
ual
val
u
e
wi
t
h
t
h
e
gi
ve
n
val
u
e
fo
r t
h
e s
t
eppe
r
m
o
tor actual rotation a
ngle a
nd t
h
e speed,
and
draw t
h
e c
o
rr
esp
ond
ing
cu
rv
e,
to
test
the effects
of
differe
n
t
sche
duling al
gorithm
on syste
m
perform
a
nce. T
h
e
part
of test software
in
t
e
rface a
s
s
h
own in fi
gure
6
[9-10].
For
exam
pl
e, we used
t
h
e d
e
si
gn o
f
e
xpe
r
i
m
e
nt
al
platform
, respectively for RM a
n
d EDF classic
real
-t
i
m
e schedul
i
n
g al
go
ri
t
h
m
,
dy
nam
i
c band
wi
dt
h al
l
o
ca
t
i
on al
g
o
r
i
t
h
m
base
d
on
fee
d
b
ack c
ont
rol
1 a
n
d
2
,
and
fi
xe
d
ban
d
wi
dt
h al
l
o
cat
i
on al
go
ri
t
h
m
fo
r p
e
r
f
o
r
m
a
nce t
e
st
i
n
g
.
O
b
ser
v
at
i
o
n sy
s
t
em
unde
r di
f
f
ere
n
t
sche
dul
i
n
g al
g
o
ri
t
h
m
,
t
h
e act
ual
rot
a
t
i
o
n A
ngl
e a
nd s
p
ee
d
st
eppe
r m
o
t
o
r and t
h
e
de
vi
at
i
on
of a gi
ven
val
u
e
,
and com
b
ined
with Matlab t
o
ol draw
i
n
g pe
rform
a
nce curve, according to
differe
n
t sc
he
duling al
gorithm
to
test the actual
effect the
perform
a
nce of t
h
e s
y
ste
m
, and
pa
rt
of th
e test results as shown in th
e tab
l
e III
[11
]
.
Tabl
e
3.
Part
s
c
hed
u
l
i
n
g al
go
ri
t
h
m
t
e
st
resul
t
s
u
nde
r t
h
e
ex
peri
m
e
nt
al
pl
at
fo
rm
Scheduling
Algor
ith
m
Result Analysis
No Scheduling
Algor
ith
m
W
ith the increase
of nodes on the net
w
ork bandwi
d
th
utilization rati
o, the packet cannot timely access to
transmission, devi
ation increases, system become unstable
RM
Scheduling
Algor
ith
m
F
o
r the same inter
f
erence node to the bandwidt
h
utilization rati
o, high priority node is always able to
obtain netwo
r
k access to transmit data,
ensure the control
performance,
but low priority nodes
may be unable to get
net access for a long time.
E
D
F Scheduling
Algor
ith
m
Relative to the
RM
scheduling al
gorit
h
m, more fair to th
e
allocation of the re
sources
Dyna
m
i
c
Bandwidth
Allocation
Algor
ith
m
1
The system output curve shows that the overall
performance is better.
A
d
just for a long time,
but the
system requires m
o
re system resources.
Dyna
m
i
c
Bandwidth
Allocation
Algor
ith
m
2
System adjustment time is short,
fast s
t
able;
B
u
t compared
with the dynamic bandwidt
h
allocatio
n method 1,
overall
system performance
4.
CO
NCL
USI
O
N
B
a
sed o
n
C
A
N b
u
s a t
y
pi
c
a
l
NC
S ex
peri
m
e
nt
pl
at
fo
rm
i
s
desi
g
n
ed
.
The C
A
N
bu
s
m
a
st
er no
de
har
d
ware an
d dri
v
er desi
gn
pr
ocess i
s
hi
g
h
l
i
ght
i
ng i
n
t
r
o
d
u
ced
. C
h
o
o
se
LPC
2
29
4 m
i
cr
op
r
o
cess
o
r ha
r
d
wa
re,
th
ro
ugh
tran
splan
tin
g
U-boo
t as a Boo
tlo
ad
er and
u
c
Li
ux as
OS, a s
o
ftware
fram
ework is esta
blished.
C
o
m
b
i
n
ed
wi
t
h
t
h
e
har
d
ware
desi
gn
of
t
h
e
expe
ri
m
e
nt
al
pl
at
form
, usi
n
g
c++ B
u
i
l
d
e
r
, a
sche
dul
i
n
g al
g
o
ri
t
h
m
per
f
o
r
m
a
nce t
e
st
i
ng so
ft
wa
re i
s
devel
o
pe
d. F
o
r n
o
sc
hed
u
l
i
ng al
g
o
r
i
t
h
m
,
R
M
, EDF an
d t
w
o fee
d
back c
ont
ro
l
dy
nam
i
c schedul
i
ng al
g
o
r
i
t
h
m
,
t
h
e act
ual
perf
orm
a
nce t
e
st
i
s
perfo
rm
ed, and t
h
e p
r
el
im
i
n
ary
co
ncl
u
si
ons a
r
e
dra
w
n. T
o
t
h
e
no s
c
he
d
u
l
i
ng
al
go
ri
t
h
m
,
t
h
e sy
st
em
t
e
nds t
o
be
u
n
st
abl
e
.
To t
h
e E
D
F
sc
hed
u
l
i
n
g al
g
o
r
i
t
h
m
,
th
e allo
cation
o
f
resou
r
ces is b
e
tter t
h
an
that o
f
th
e RM
sch
e
d
u
ling
al
go
rith
m
.
Feedback
con
t
ro
l
d
y
n
a
m
i
c
sche
dul
i
n
g al
g
o
ri
t
h
m
can ach
i
e
ve bet
t
e
r sy
s
t
em
perfo
rm
an
ce.
To furthe
r prove
that
th
e
estab
lish
m
en
t o
f
t
h
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
SN
:
2
089
-48
64
I
J
RES Vo
l. 4
,
N
o
. 1
,
Mar
c
h
20
15
:
22
–
27
27
expe
ri
m
e
nt
al
pl
at
form
on al
l
ki
n
d
s
of
sch
e
d
u
l
i
n
g
al
g
o
ri
t
h
m
research
on
t
h
e pe
rf
o
r
m
a
nce o
f
net
w
or
k
cont
rol
sy
st
em
has a
hi
gh
ap
pl
i
cat
i
o
n
val
u
e.
ACKNOWLE
DGE
M
ENTS
Thi
s
w
o
rk i
s
s
u
p
p
o
rt
e
d
by
N
a
t
i
onal
Nat
u
ral
Sci
e
nce F
o
un
dat
i
on
o
f
C
h
i
n
a (N
SFC
N
o
.
61
3
0
0
1
9
7
)
,
Su
pp
ort
e
d by
Pro
d
u
ct
i
o
n Pr
o
j
ect
o
f
U
n
i
v
e
r
s
i
t
y
-Ind
u
st
ry
c
o
ope
rat
i
o
n o
f
G
u
an
g
d
o
n
g
Pr
o
v
i
nce an
d M
i
ni
s
t
ry
of
Edu
catio
n of
C
h
in
a
(N
o.
2
012B0
911
002
95
) .
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NC
ES
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