Single task or Two USTC Task 1(with maximum priority) Deadline NScheduler Task 2 Sampling time T Set Event Variable() Scheduler Set Event Variable(1) Task I Deadline Task I (wait function) (wait function) set highest priority; 3s2 y=read ADC(Ch#1); r=signal_generator(Parameters); ys=signal conditioning scaling(y): Task 2 r=signal generator(Parameters); u=Kr*r-Kx*x; e=[(w-ys)e(2:length(e)]; write DAC(Ch#x,u); Set Event Variable(2) u=u+q'*e; eset_Event_Variable(2); (wait function) write DAC(Ch#1,u); Shared Memory y=read_ADC(Ch#x); u,r,x,y,Ab,Bb,Kr,Kx ys=signal_conditioning scaling(y); ete. x=Ab *x+Bb*[u'y']'; 山1 h u2 y(kT)G(x(kT)) 业 优先级、通信、同步？ x((k+1)T)F(z(kT),u(kT)) m nSingle task or Two 优先级、通信、同步？