目前控制系統調度策略和控制性能兩者的最優化是一個難題。由瑞典Lund 學院開發
的Jitterbug 工具箱，提供了一個分析網絡控制系統時延的平臺，可以對各種時延情況下的線性閉環控制系統提供靜態的性能預估分析。本文基于Jitterbug 內部模塊特性，利用其特定的調度策略和性能指標函數，針對一類網絡控制系統，導出了該實時閉環控制系統的性能優化時延需求，并進行了時延補償分析。
關鍵詞：Jitterbug；預估分析；代價函數；時延補償；網絡控制系統
Abstract: Currently combining scheduling attributes with control performance optimization is a difficult issue. Developed by Lund institute, the toolbox Jitterbug allows the user to setup a
platform analyzing the induced delay of networked control system by using a quadratic
performance criterion. The tool can also evaluate the stationary behavior of a linear system under various timing conditions. Based on the internal model of Jitterbug and its certain scheduling attributes with the quadratic cost function for a class of networked control system, we have derived the delay requirements of real-time closed loop control system and proceeded with analysis of delay compensation.
Keywords: Jitterbug; Predict analysis; cost function; delay compensation; NCS