中文摘要：

模型因为它的计算时间不是明确的，预兆的控制(MPC ) 不能可靠地被用于即时控制系统。是实现了在任何时候算法， MPC 任务允许计算时间为控制性能被交换，因此及时获得可预测性。一套 MPC 任务的安排的最佳的反馈(FS-CBS ) 被介绍最大化全球控制性能题目到有限处理器时间。每项 MPC 任务与一个经常的带宽服务者(CBS ) 其保留了处理器时间一起被分配动态地被调整。在全部的任务的 FS-CBS 保证调度程序的限制设定；每个部件的稳定性。FS-CBS 被显示出对在运行时刻的 MPC 任务的执行时间的变化柔韧。模拟结果说明它的有效性。

英文摘要：

Model predictive control （MPC） could not be reliably applied to real-time control systems because its computation time is not well defined. Implemented as anytime algorithm, MPC task allows computation time to be traded for control performance, thus obtaining the predictability in time. Optimal feedback scheduling （FS-CBS） of a set of MPC tasks is presented to maximize the global control performance subject to limited processor time. Each MPC task is assigned with a constant bandwidth server （CBS）, whose reserved processor time is adjusted dynamically. The constraints in the FS- CBS guarantee scheduler of the total task set and stability of each component. The FS-CBS is shown robust against the variation of execution time of MPC tasks at runtime. Simulation results illustrate its effectiveness.