Timing Monitor Design of Intelligent Control Algorithm Based on Synchronized Petri Nets

It is necessary to verify the correction of robotic control algorithms as well as its timing charctersitics.A synchronized Petri nets model was used for modeling the preemptive scheduling policy with fixed priorities and the concept of event set was introduced for calculating the unpridicable run time of an intelligent control algorithm and for timing monitor design.The presented method is suitable for single CPU as well as multi CPU architecture and is proved effective by trajectory control of 2-DOF air levitated platform for IC packaging and robotic force control tasks.