On the Robust Capability of Feedback Scheduling in ORB Middleware

Existing middleware standards cater to the requirement of a broad range of distributed applications. However they do not provide real-time performance guarantees portable in many mission-critical distributed real-time and embedded (DRE) systems operated in open and unpredictable environments. H∞ optimal control theory addresses the issue of worst-case controller design for plants subjected to unknown additive disturbances and plant uncertainties, including problems of disturbance attenuation, model matching, and tracking. In this paper, we describe H∞-nonlinear model predictive control scheduling (H∞-NMPC) service framework with hORB based on AMIDST. It can be used to maintain the flexibility and reuse, and enables real-time systems to be truly portable on real-time performance requirements.