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— In a large category of embedded systems, computing resources are limited. Consequently, they need to be exploited as efficiently as possible. Recently, many research works have demonstrated that considering jointly the problems of control and scheduling leads to a better control performance, given the same computing resources. In this paper, the problem(More)
— This paper addresses the problem of the optimal control and scheduling of Networked Control Systems over limited bandwidth deterministic networks. Multivariable linear systems subject to communication constraints are modeled in the Mixed Logical Dynamical (MLD) framework. The translation of the MLD model into the Mixed Integer Quadratic Programming (MIQP)(More)
A novel type of reduced complexity controller is proposed. It is the combination of model free control and event triggered control. The robustness of model free control, especially for badly known dynamics, is added to the event based scheme. The performances of the proposed method are illustrated in two motion controls, vehicular longitudinal control and(More)
The rapid development of mobile Internet and smart devices and advent of new generation of Intelligent Transportation Systems (ITS) increase information about future driving conditions and makes on-board energy management of Hybrid Electrical Vehicle (HEV) realistic. In this paper we propose a real time energy management algorithm R<sup>T</sup>EMA for a HEV(More)
This paper describes a general approach to the optimal path planning of industrial robots. The proposed method is based on nonlinear programming, decomposition-coordination and feedback decoupling and linearization. The optimal path is obtained through the optimization of a time-energy criterion for the linearized model by static feedback. The proposed(More)
Relationships between system states contained in the neutral equation are used to address the delay-dependent stability of a neutral system with time-varying state delay. Using linear matrix inequalities, we present a new asymptotic stability criterion, and a new robust stability criterion, for neutral systems with mixed delays. Since the criteria take into(More)
This paper addresses the problem of the on-line scheduling of a limited communication resource in order to optimize the control performance. A multivari-able linear system with communication constraints is modeled in the Mixed Logical Dynamical (MLD) framework. The system is controlled using a Model Predictive Controller (MPC), which computes, at each(More)
Six patients with 7 tuberculous psoas or ilio-psoas abscesses were treated by CT-guided catheter drainage and chemotherapy. The abscesses (5 unilateral and 1 bilateral) were completely drained using a posterior or lateral approach. The abscess volume was 70 to 700 ml (mean 300 ml) and the duration of drainage 5 to 11 days (mean 7 days). Immediate local(More)