单任务与多任务 monolithic approach implementation with a single periodic task. simple,but tends to lead to a larger feedback-delay. In order to diminish this delay a predictive controller ( may be implemented. multiple task approach - dividing the process in more than one real-time task. The main task calculates the new control signal. - Followed by Task 2 where the new state variable are calculated. set timer to interrupt periodically with period T; 名 at each timer interrupt do 2 y(KT)=G(x(kT)) do analog-to-digital conversion to get y; x((k+1)T)=F(z(kT).u(KT)) compute control output u; m output u and do digital-to-analog conversion; od单任务与多任务 • monolithic approach – implementation with a single periodic task. – simple，but tends to lead to a larger feedback-delay. • In order to diminish this delay a predictive controller（？） may be implemented. • multiple task approach – dividing the process in more than one real-time task. – The main task calculates the new control signal. – Followed by Task 2 where the new state variable are calculated