Performance and energy aware robust specification of control execution patterns under dropped samples

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Embedded control systems are prevalent in a multitude of domains such as automotive, avionics, industrial control etc. For such systems, robustness against non-idealities of the compute platform created by situations such as hardware level transient faults (memory errors, sensor reading errors), network packet drops, late arrival of messages etc., is needed to be ensured at the design level. In traditional regular periodic execution of control loops, such guarantees are obtained by oversampling the plant, which requires extra rounds of sensing, control law computation, and actuation. One possible measure for reducing such over-provisioning of computing and communication resources is allowing occasional drops in the execution leading to better resource management as well as energy efficiency. This work showcases a methodology for deriving window-based bounds on possible drops in control loop executions while assuring formal performance guarantees even in the presence of platform-level non-idealities. Derivation of such relaxation bounds in terms of control loop executions help in deciding energy efficient scheduling solutions for low-power resource-constrained embedded control platforms while retaining control performance. The present work provides a structured methodology for deriving performance-aware control execution patterns given an energy-budget and uncertainty specification of the platform executing a set of embedded control loops.