Description
This paper considers an anytime strategy to implement controllers that react to changing computational resources. The anytime controllers developed in this paper are suitable for cases when the time scale of switching is in the order of the task execution time, that is, on the time scale found commonly with sporadically missed deadlines. This paper extends the prior work by developing frequency-weighted anytime controllers. The selection of the weighting function is driven by the expectation of the situations that would require anytime operation. For example, if the anytime operation is due to occasional and isolated missed deadlines, then the weighting on high frequencies should be larger than that for low frequencies. Low frequency components will have a smaller change over one sample time, so failing to update these components for one sample period will have less effect than with the high frequency components. An example will be included that applies the anytime control strategy to a model of a DC motor with deadzone and saturation nonlinearities.
