Issue No. 05 - September/October (1992 vol. 9)
DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/52.156897
<p>A framework for developing hierarchical control systems consisting of layers that group transformation types, the tools to help implement the layers and validate timing properties, and the mechanisms for communicating among layers is discussed. The layered framework supports the design and implementation of control systems with both continuous and discrete components, and is suitable for integrating symbolic and numeric computations in a range of applications. Two applications of the framework-an elevator control system and driver support system-are described.</p>
symbolic computations; real-time control; continuous components; hierarchical control systems; transformation types; timing properties; discrete components; numeric computations; elevator control system; driver support system; computerised control; expert systems; hierarchical systems; real-time systems
M. Morin, E. Sandewall, S. Nadjm-Tehrani and P. Österling, "Real-Time Hierarchical Control," in IEEE Software, vol. 9, no. , pp. 51-57, 1992.