TrueTime: Simulation of Control Loops Under Shared Computer Resources

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceeding


The paper presents TrueTime, aMatlab/Simulink-based simulator for real-time controlsystems. TrueTime makes it possible to simulate the temporalbehavior of multi-tasking real-time kernels containing controllertasks and to study the effects of CPU and network scheduling on controlperformance. The simulated real-time kernel is event-driven and canhandle external interrupts as well as fine-grained details such ascontext switches. Arbitrary scheduling policies may be defined, andthe control tasks may be implemented using C functions, M functions,or Simulink block diagrams. A number of examples that illustratethe use of TrueTime are presented.


Research areas and keywords

Subject classification (UKÄ) – MANDATORY

  • Control Engineering


  • Feedback scheduling, Event-based simulation, Real-time control systems, Shared resources, Real-time kernel
Original languageEnglish
Title of host publicationProceedings of the 15th IFAC world congress
Publication statusPublished - 2002
Publication categoryResearch

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