REAL TIME SYSEMS

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 Historical background

• Brown and Campbell – 1950 – Earliest

proposal - Computer operating in real time (as
a part of the control system)
• Consists of feedback and feed-forward loops
• Assumption was that, the analog computers
can be used
• Digital computer elements were did not
excluded

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 Computer used in control of plant

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• First digital computer – developed for real time control – for airborne
operation
• Digitrac digital computer – 1954 – used to provide an automatic flight and
weapons control system

• Industrial control – in digital computers usage – late 1950s

• Computer and electronic system manufacturers – for extending markets –
been out from military uses of – initiated the computer control industries

• 1958, September – Louisiana Power and Light Company - Daystrom

computer system’s installation – for plant monitoring – in their power
station – at Sterling, Louisiana
• It was not the control system

• First industrial computer installation -

• Texaco Company –Ramo-Wooldridge Company - RW-300 system’s
installation - at Port Arthur refinery in Texas
• 1959, March 15th – Refinery were using – closed loop control system
(Anon, 1959)

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• 1957-58 - Monsanto Chemical Company – with the cooperation of Ramo-
Wooldridge Company – studied the control by computer

• 1958, October – it planned to have computer control for ammonia plant – at

Luling, Louisiana

• 1960, July 20th – Commissioning of computer control for ammonia plant at Luling,
Louisiana – began

• 1960, April 4th – Closed loop control was achieved – after rewriting – the control of
the program - Noise problems – were faced – on the measurement of signals

• 1959-60, B. F. Goodrich Company – Acrylanite plant, at Calvert city, Kentucky –had

the same installation scheme – as above – and also –40 systems of RW-300 based
– were in for supervisory control systems for using – for steady-state optimization
calculations – for determining the set-points – for standard analog controllers –
Here, computer – not controlling directly – movement of the valves or other plant
actuators

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• 1962, November – Ferranti Argus 200 systems - First DDC (Direct Digital Control) system – installed
– at ICI ammonia-soda plant at Fleetwood, Lancashire, UK
• It was the large system – 120 control loops (94 of were used actually) – 256 measurements (224 of
were used actually) – in Fleetwood system

• 1961 – Monsanto Company – Texas city plant – and, a hierarchical control scheme for
petrochemical companies, at Chocolate Bayou – DDC projects – began

• RW-300 computer – used the rotating drum store – to hold the control program
• Ferranti Argus 200 – Used the ferrite core store – to hold the control program - PROM – program
was held in it
• Loaded by – physically inserting pegs into a plug board – each peg representing – one bit in the
memory word
• Was laborious to set up initially ,Was very reliable –since, destruction of the memory contents - can
be done only by physical dislodgement of the pegs
• Security was enhanced – using special power supplies – and, switch-over mechanisms – to protect
information held in the main core store

The information – was as follows –

• 1. Set points – Loss most undesirable
• 2. Valve demand – Presence after controlled stoppage allows computer to gain control of plant
immediately and without disturbing the plant (referred to as bumpless transfer)
• 3. Memory calculations – Loss is tolerable, soon will be updated and only slight disturbance to plant
• 4. Future development – Extension to allow for optimization may require information to be
maintained for long periods of time
• 5. More rapid memory access – were in Ferranti Argus 200 – that of RW-300 and similar machines
• Began the second phase of application of computers – to real time control

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• 1960s, Early – Computers ware using – combined magnetic
core memories and drum stores – drum eventually giving
way to hard disk drives

• Cost of earlier computer increased – in attempts to resolve

some problems – and only one computer – for supervising
control and DDC – can be justified only – it was with further
problems in development of softwares

• Softwares – written by specialists programmers – in

machine code – it was manageable earlier – since, tasks
were defined clearly and the programs’ length were less

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• DDC and supervisory control – were with very different time-scales
• DDC control programs – have to interrupt the supervisory control
programs’ increase in code length – made not all the code could be
stored in core memory and also swapping of code between the
drum memory and core to be to done, were also - Solutions to
increased code length problems – were by - Development of
general purpose real-time operating systems and high-level
languages

• Late 1960s – RTOS were developed – PROCESS FORTRAN compilers

had their appearance

• Problems and costs of involving in having one computer only for use
– made the users to retreat – the smaller systems – for which newly
developing microcomputers (like DEC PDP-8, PDP-11, Data General
Nova, Honeywell 316, etc.,) were ideally suited

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•
• Microcomputers less cost – made them suitable – to load the large
number of tasks onto one machine,.

• 1970 – two computers on the systems were using – in which one

computer acting simply stand-by – to function in the event of
failure of the working computer

• Throughout 1970 – Developments in ICs and construction

techniques in circuit boards – led to - increment in reliability of the
systems – reduction in the cost – increment in the processor power
– increase in the fast memory amount – made more correct and
dependable softwares to be to write

• 1974 – microprocessors’ advent – made it economical to use

distributed computer control system

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 RTS Definition
• RTS definition (in as The Oxford dictionary of Computing):
Any system in which the time at which the output is produced is significant.
This is usually because the input corresponds to some movement in the
physical world, and the output has to relate to that same movement. The
lag from input time to output time must be sufficiently small for
acceptable timelines

• RTS definition (Cooling – 1991):

Real-time systems are those which must produce correct responses within a
definite time limit. Should computer responses exceed these time bounds
then performance degradation and/or malfunction results

• RTS definition (alternate definition):

A real-time system reads inputs from the plant and sends control signals to
the plant at times determined by plant operational considerations – not at
times limited by the capabilities of the computer system

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• RTS definition:
A program for which the correctness of
operations depends both on the logical
results of the computations and the time at
which the results are produced
Ex.: Aircraft engine control system – sending
response to UNIX workstations

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 Classification of Real-time Systems

• Computer is connected to the environment

within which it is working by a wide range of
interface devices and receives an sends a
variety of stimuli – in the real time systems
and embedded computers

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• Synchronization between the external processes and the internal
actions (tasks) – carried by the computer:

• 1. Clock based: Synchronization between the above two - if in

depends on passages of time, actual time of day (clock based RTS)

• 2. Event based: Synchronization between the above two – if in

depends events
• Ex.: Closure of a switch

• 3. Interactive Systems: Relation between the actions in the

computer and the system – is much more loosely defined
• Requirement, typically – in the form that – a set of operations in the
computer should be completed within a predetermined time
• Majority of the communication tasks – are of this category

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Jobs are units of work that are scheduled and executed by the systems.
The set of related jobs that can be solved by the same algorithm are called a task.
A job is an instance of a task.

Periodic Tasks are activated regularly at fixed rates. These tasks are time-driven
Example: Monitoring temperature of a patient
The length of time between to successive activations is called the period.

Aperiodic tasks are tasks which are activated irregularly at some unknown and
possibly unbounded rate. Event driven.
Example – Activated when condition of patient changes.

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 Time constraints

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 Classification according industry
process control
• Batch
• Continuous
• laboratory

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 SEQUENCE CONTROL

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 Loop control

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 PID control
DDC application

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 General structure of feedback control
architecture

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General structure of inferential control
configuration

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