The use of multiple digital signal processors (DSPs) to implement a real-time digital controller is described. Specially, the multi-DSP implementation of a multi-input single-output digital controller with small sampling period and throughput time is considered. The optimal scheduling problem to achieve the minimum sampling period when the number of available DSPs is fixed is formulated. A scheduling algorithm based on a branch-and-bound approach for the optimization problem is then proposed. The multi-DSP system has also been realized experimentally. The proposed algorithm has been implemented and tested by a breadboard experiment using three DSPs.
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