Discrete Event Dynamic Systems

, Volume 29, Issue 4, pp 501–520 | Cite as

SCT-based priority-free conditionally-preemptive scheduling of modular real-time systems with exact task execution time

  • Xi Wang
  • Zhiwu LiEmail author
  • Thomas Moor
Part of the following topical collections:
  1. Smart Manufacturing -A New DES Frontier


This study presents a novel discrete-event systems (DES) modeling framework to address real-time system (RTS) with sporadic, periodic, and non-repetitive real-time tasks. Our approach is organized in three steps. First, the effect of individual timing parameters of each task, such as job arrival and deadlines, are represented by modular DES. Second, we choose the required modules for the specific RTS at hand to compose an overall model. Third, we utilize supervisory control to find all schedules that are consistent with the timing requirements of all tasks. In contrast to fixed task priorities, we address general preemption relations represented by a preemption matrix and thereby implement priority-free conditionally-preemptive (PFCP) real-time scheduling. As a particular feature of the closed-loop configuration, the schedules obtained refer to the actual job execution time as opposed to upper and lower bounds. We illustrate our approach by a real-world example in the context of an automated manufacturing system.


Real-time systems Supervisory control Conditional preemption Best-case execution time Worst-case execution time 



This work was supported in part by the Alexander von Humboldt Foundation, the National Natural Science Foundation of China under Grant No. 61703322, 61673309, and 61603285, and the Science and Technology Development Fund, MSAR, under Grant No. 122/2017/A3.


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© Springer Science+Business Media, LLC, part of Springer Nature 2019

Authors and Affiliations

  1. 1.School of Electro-Mechanical EngineeringXidian UniversityXi’anChina
  2. 2.Lehrstuhl für RegelungstechnikFriedrich-Alexander-Universität Erlangen-NürnbergErlangenGermany
  3. 3.Institute of Systems EngineeringMacau University of Science and TechnologyTaipaChina

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