Journals and conferences

• Qualitative Analysis of a One-step Finite-Horizon Boundary for Event-driven Controllers
  In 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC11), Orlando, FL, USA, December, 2011.
  Authors: Manel Velasco, Pau Martí, José Yépez, Francisco J. Ruiz, Josep M. Fuertes, Enrico Bini
  
  
• One-Step Finite Horizon Boundary with Varying Control Gain for Event-Driven Networked Control Systems
  In 37th Annual Conference of the IEEE Industrial Electronics Society (IECON11), Melbourne, Australia, November, 2011.
  Authors: José Yépez, Manel Velasco, Pau Martí, Enric Xavier Martín
  
  
• Lowering Traffic without Sacrificing Performance in Networked Control Systems
  In 16th IEEE International Conference on Emerging Techonologies and Factory Automation (ETFA11), Toulouse, France, September, 2011.
  Authors: Pau Martí, Manel Velasco, José Yépez, Enric Xavier Martín
  
  
• Optimal On-Line Sampling Period Assignment: Theory and Experiments
  IEEE Transactions on Control Systems Technology, Vol. 19, No. 4, pp. 902-910, July, 2011.
  Authors: Anton Cervin, Manel Velasco, Pau Martí, Antonio Camacho
  
  
• Networked Sliding Mode Control of the Double Integrator System Using the Event-driven Self-triggered Approach
  In 20th IEEE International Symposium on Industrial Electronics (ISIE10), Gdansk, Poland, June, 2011.
  Authors: Pau Martí, Manel Velasco, Antonio Camacho, Enric Xavier Martín, Josep M. Fuertes
  
  
• Simulation Study of a Remote Wireless Path Tracking Control with Delay Estimation for an Autonomous Guided Vehicle
  International Journal of Advanced Manufacturing Technology, Vol. 52, Numbers 5-8, pp. 751-761, February, 2011.
  Authors: Camilo Lozoya, Pau Martí, Manel Velasco, Josep M. Fuertes, Enric Xavier Martín
  
  
• Run-Time Allocation of Optional Control Jobs to a Set of CAN-based Networked Control Systems
  IEEE Transactions on Industrial Informatics, Vol. 6, N. 4, November, 2010.
  Authors: Pau Martí, Antonio Camacho, Manel Velasco, Mohamed El Mongi Ben Gaid
  
  
• Design of an Embedded Control Systems Laboratory Experiment
  IEEE Transactions on Industrial Electronics, Vol. 57, N. 10, October, 2010.
  Authors: Pau Martí, Manel Velasco, Josep M. Fuertes, Antonio Camacho, Giorgio Buttazzo
  
  
• Synchronizing Sampling and Actuation in the Absence of Global Time in Networked Control Systems
  In 15th IEEE International Conference on Emerging Techonologies and Factory Automation (ETFA10), Bilbao, Spain, September, 2010.
  Authors: Pau Martí, Antonio Camacho, Manel Velasco, Pere Marés, Josep M. Fuertes
  
  
• Efficient Utilization of Bus Idle Times in CAN-Based Networked Control Systems
  In 2nd IFAC Workshop on Distributed Estimation and Control in Networked Systems (NecSys2010), Annecy, France, September, 2010.
  Authors: Pau Martí, Antonio Camacho, Manel Velasco, Mohamed El Mongi Ben Gaid
  
  
• Minimizing Control Cost in Resource-Constrained Control Systems: from Feedback Scheduling to Event-driven Control
  In 18th Mediterranean Conference on Control and Automation (MED2010), Marrakech, Morocco, June, 2010.
  Authors: Camilo Lozoya, Pau Martí, Manel Velasco
  
  
• Embedding Kalman Techniques in the One-Shot Task Model when Non-uniform Samples Are Corrupted by Noise
  In 18th Mediterranean Conference on Control and Automation (MED2010), Marrakech, Morocco, June, 2010.
  Authors: Camilo Lozoya, Jullio Romero, Pau Martí, Manel Velasco, Josep M. Fuertes
  
  
• Invariant Manifolds as Boundaries for Event-Driven Control Systems
  In Work-in-progress session of the 13th International Conference on Hybrid Systems: Computation and Control (HSCC2010), Stockholm, Sweden, April, 2010.
  Authors: Manel Velasco, Pau Martí
  
  
• Self-Triggered Networked Control Systems: an Experimental Case Study
  In IEEE 2010 International Conference on Industrial Technology (ICIT2010), Valparaiso, Chile, March, 2010.
  Authors: Antonio Camacho, Pau Martí, Manel Velasco, Camilo Lozoya, Ricard Villà, Josep M. Fuertes, Eulàlia Griful
  
  
• Experimental evaluation of slack management in real-time control systems: coordinated vs. self-triggered approach
  In Journal of Systems Architecture, Vol. 56, No. 1, pp. 63-74, January, 2010.
  Authors: Camilo Lozoya, Pau Martí, Josep M. Fuertes, Manel Velasco, Scott Brandt
  
  
• On Lyapunov Sampling for Event-driven Controllers
  In 48th IEEE Conference on Decision and Control (CDC09), Shanghai, China, December, 2009.
  Authors: Manel Velasco, Pau Martí, Enrico Bini
  
  
• Preliminary Approach to Lyapunov Sampling in CAN-based Networked Control Systems
  In 35th Annual Conference of the IEEE Industrial Electronics Society (IECON09), Porto, Portugal, November, 2009.
  Authors: José Yépez, Camilo Lozoya, Manel Velasco, Pau Martí, Josep M. Fuertes
  
  
• Schedulability Analysis for CAN-based Networked Control Systems with Dynamic Bandwidth Management
  In 14th IEEE International Conference on Emerging Techonologies and Factory Automation (ETFA09), Mallorca, Spain, September, 2009.
  Authors: Manel Velasco, Pau Martí, José Yépez, Ricard Villà, Josep M. Fuertes
  
  
• Equilibrium Sampling Interval Sequences for Event-driven Controllers
  In European Control Conference 2009 (ECC09), Budapest, Hungary, August, 2009.
  Authors: Enrico Bini, Pau Martí, Manel Velasco
  
  
• Demo Abstract: Implementation of Self-triggered Controllers
  In Demo Session of 15th IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS09), San Francisco, CA, USA, April, 2009.
  Authors: Enrico Bini, Manel Velasco, Pau Martí, Antonio Camacho
  
  
• The Optimal Boundary and Regulator Design Problem for Event-Driven Controllers
  In 12th International Conference on Hybrid Systems: Computation and Control (HSCC09), San Francisco, CA, USA, April, 2009.
  Authors: Pau Martí, Manel Velasco, Enrico Bini
  
  
• Draco: Efficient Resource Management for Resource-Constrained Control Tasks
  IEEE Transactions on Computers, Vol. 58, No. 1, January, 2009.
  Authors: Pau Martí, Caixue Lin, Scott Brandt, Manel Velasco, Josep M. Fuertes
  
  
• Control-driven Tasks: Modeling and Analysis
  In 28th IEEE Real-Time Systems Symposium (RTSS08), Barcelona, Spain, December, 2008.
  Authors: Manel Velasco, Pau Martí, Enrico Bini
  
  
• Analysis and Design of Networked Control Loops with Synchronization at the Actuation Instants
  In 34th Annual Conference of the IEEE Industrial Electronics Society (IECON08), Orlando, Florida, US, November, 2008.
  Authors: Camilo Lozoya, Pau Martí, Manel Velasco, Josep M. Fuertes
  
  
• The One-Shot Task Model for Robust Real-Time Embedded Control Systems
  IEEE Transactions on Industrial Informatics, Vol. 4, No. 3, August, 2008.
  Authors: Camilo Lozoya, Manel Velasco, Pau Martí
  
  
• Control Performance Evaluation of Selected Methods of Feedback Scheduling of Real-time Control Tasks
  In 17th IFAC World Congress, Seoul, Korea, July, 2008.
  Authors: Camilo Lozoya, Pau Martí, Manel Velasco, Josep M. Fuertes
  
  
• Performing Flexible Control on Low-Cost Microcontrollers Using a Minimal Real-Time Kernel
  IEEE Transactions on Industrial Informatics, Vol. 4, No. 2, pp. 125-133 , May, 2008.
  Authors: Ricardo Marau, Pedro Leite, Manel Velasco, Pau Martí, Luis Almeida, Paulo Pedreiras, Josep M. Fuertes
  
  
• Absolute Type Shaft Encoding Using LFSR Sequences with Prescribed Length
  IEEE Transactions on Instrumentation and Measurement, vol. 57, num. 5, May, 2008.
  Authors: Josep M. Fuertes, Borja Balle, Enric Ventura
  
  
• On the Timing of Discrete Events in Event-Driven Control Systems
  In 11th International Conference on Hybrid Systems: Computation and Control (HSCC08), St. Louis, MO, USA, April, 2008.
  Authors: Manel Velasco, Pau Martí, Camilo Lozoya
  
  
• A 10-Year Taxonomy on Prior Work on Sampling Period Selection for Resource-Constrained Real-Time Control Systems
  In Work-in-progress Session, 19th Euromicro Conference on Real-Time Systems (ECRTS07), Pisa, Italy, July, 2007.
  Authors: Camilo Lozoya, Manel Velasco, Pau Martí
  
  
• Effective Real-Time Wireless Control of an Autonomous Guided Vehicle
  In 2007 IEEE International Symposium on Industrial Electronics (ISIE07), Vigo, Spain, June, 2007.
  Authors: Camilo Lozoya, Pau Martí, Manel Velasco, Josep M. Fuertes
  
  
• A Preliminary Approach to Feedback Control of Server-based Real-Time Systems (document not available)
  In Poster Session, Second IEEE International Workshop on Feedback Control Implementation and Design in Computing Systems and Networks(FeBID07), Munich, Germany,, May, 2007.
  Authors: Manel Velasco, Pau Martí
  
  
• Toward Flexible Scheduling of Real-Time Control Tasks: Reviewing Basic Control Models
  In 10th International Conference on Hybrid Systems: Computation and Control (HSCC07), LNCS 4416, pp. 710–713, Pisa, Italy, April, 2007.
  Authors: Pau Martí, Manel Velasco
  
  
• Quality-of-Control Management in Overloaded Real-Time Systems
  IEEE Transactions on Computers, vol. 56, No. 2, pp. 253-266, February, 2007.
  Authors: Giorgio Buttazzo, Manel Velasco, Pau Martí
  
  
• A CAN Application Profile for Control Optimization in Networked Embedded Systems
  In 32th Annual Conference of the IEEE Industrial Electronics Society (IECON06), Paris, France, November, 2006.
  Authors: Manel Velasco, Pau Martí, Rosa Castañé, Josep Guàrdia, Josep M. Fuertes
  
  
• Resource Management for Control Tasks Based on the Transient Dynamics of Closed-Loop Systems
  In Proceedings of the 18th Euromicro Conference on Real-Time Systems (ECRTS06), Dresden, Germany, July, 2006.  [ BibTex ]
  Authors: Rosa Castañé, Pau Martí, Manel Velasco, Anton Cervin, Dan Henriksson
  
  
• CICLIC: A Tool to Generate Feasible Cyclic Schedules
  In Proceedings of the 6th IEEE International Workshop on Factory Communication Systems (WFCS06), Torino, Italy, June, 2006.
  Authors: José Yépez, Josep Guàrdia, Manel Velasco, Jordi Ayza, Rosa Castañé, Pau Martí, Josep M. Fuertes
  
  
• Asignación Dinámica de Recursos en Sistemas de Control de Tiempo Real
  Revista Iberoamericana de Automática e Informática Industrial (CEA-IFAC), April, 2006.
  Authors: Pau Martí, Caixue Lin, Scott Brandt, Manel Velasco, Jordi Ayza, Josep M. Fuertes
  
  
• Stability of Networked Control Systems with Bounded Sampling Rates and Time Delays
  In 31th Annual Conference of the IEEE Industrial Electronics Society (IECON05), Raleigh, USA, November, 2005.
  Authors: Manel Velasco, Pau Martí, Ricard Villà, Josep M. Fuertes
  
  
• LEF closed-loop scheduling policy for real-time control systems
  In 10th IEEE Conference onEmerging Technologies and Factory Automation (ETFA 2005) , September, 2005.
  Authors: José Yépez, Pau Martí, Jordi Ayza, Josep M. Fuertes
  
  
• A Probabilistic Approach to the Stability Analysis of Real-Time Control Systems
  In 16th IFAC World Congress, Praha, Czech Republic, July, 2005.
  Authors: Pau Martí, Manel Velasco, Ricard Villà, Josep M. Fuertes, Jordi Ayza
  
  
• Key Aspects for Co-designing Real-Time and Control Systems
  n 1st International Workshop on Real-Time and Control (RTC05), satellite workshop of the 17th Euromicro Conference on Real-Time Systems, Palma de Mallorca, Spain, July, 2005.
  Authors: Manel Velasco, Pau Martí, Rosa Castañé, Ricard Villà, Josep M. Fuertes
  
  
• Adaptive Real-time Systems (contribution) (document not available)
  In Embedded Systems Design - The ARTIST Roadmap for Research and Development. Series: Lecture Notes in Computer Science, Vol. 3436, Springer, ISBN: 3-540-25107-3, May, 2005.
  Authors: Pau Martí
  
  
• Bandwidth Management for Distributed Control of Highly Articulated Robots
  In IEEE International Conference on Robotics and Automation (ICRA05), Barcelona, Spain, April, 2005.
  Authors: Manel Velasco, Pau Martí, Manel Frigola
  
  
• Networked Control Systems Overview (document not available)
  In The Industrial Information Technology Handbook, Ed. Richard Zurawski, ISA Corporation, South San Francisco, California, USA Series: Industrial Electronics Volume: 1, CRC Press, December, 2004.
  Authors: Pau Martí, Ricard Villà, Josep M. Fuertes, Gerhard Fohler
  
  
• Managing Quality-of-Control in Network-Based Control Systems by Controller and Message Scheduling Co-design
  In IEEE Transactions on Industrial Electronics, Volume 51, Number 6, December, 2004.
  Authors: Pau Martí, José Yépez, Manel Velasco, Ricard Villà, Josep M. Fuertes
  
  
• Optimal State Feedback Based Resource Allocation for Resource-Constrained Control Tasks
  In 25th IEEE Real-Time Systems Symposium (RTSS04), Lisbon, Portugal, December, 2004.
  Authors: Pau Martí, Caixue Lin, Scott Brandt, Manel Velasco, Josep M. Fuertes
  
  
• A Control Approach to Bandwidth Management in Networked Control Systems
  In 30th Annual Conference of the IEEE Industrial Electronics Society (IECON04), Busan, Korea, November, 2004.
  Authors: Manel Velasco, Josep M. Fuertes, Caixue Lin, Pau Martí, Scott Brandt
  
  
• Managing Quality-of-Control Performance Under Overload Conditions
  In 16th Euromicro Conference on Real-Time Systems (ECRTS04), Catania, Italy, July, 2004.
  Authors: Giorgio Buttazzo, Manel Velasco, Pau Martí, Gerhard Fohler
  
  
• Improving Control Performance Using Discrete Quality of Service Levels in a Real-Time System
  In Work-in-Progress Session of the 10th IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS04), Toronto, Canada, May, 2004.
  Authors: Caixue Lin, Pau Martí, Scott Brandt, Scott Banachowski, Manel Velasco, Josep M. Fuertes
  
  
• The Self Triggered Task Model for Real-Time Control Systems
  In Work-in-Progress Session of the 24th IEEE Real-Time Systems Symposium (RTSS03), Cancun, Mexico, December, 2003.
  Authors: Manel Velasco, Pau Martí, Josep M. Fuertes
  
  
• The Large Error First (LEF) Scheduling Policy for Real-Time Control Systems
  In Work-in-Progress Session of the 24th IEEE Real-Time Systems Symposium (RTSS03), Cancun, Mexico, December, 2003.
  Authors: José Yépez, Pau Martí, Josep M. Fuertes
  
  
• Control Loop Scheduling Paradigm in Distributed Control Systems
  In 29th Annual Conference of the IEEE Industrial Electronics Society (IECON03), Roanoke, USA, November, 2003.
  Authors: José Yépez, Pau Martí, Josep M. Fuertes
  
  
• Process Data Abstraction/Accessibility Via Internet
  In 9th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA03), Lisbon, Portugal, September, 2003.
  Authors: Manel Velasco, Josep M. Fuertes, Pau Martí
  
  
• Modelling Self-triggered Tasks for Real-Time Control Systems
  In Co-design in Embedded Real-time Systems (CERTS03), satellite workshop of the 15th Euromicro Conference on Real-Time Systems (ECRTS03), Porto, Portugal, July, 2003.
  Authors: Manel Velasco, Pau Martí, Josep M. Fuertes
  
  
• Improving Quality-of-Control using Flexible Timing Constraints: Metric and Scheduling Issues
  In 23rd IEEE Real-Time Systems Symposium (RTSS02), Austin (TX), USA, December, 2002.
  Authors: Pau Martí, Gerhard Fohler, Josep M. Fuertes, Krithi Ramamritham
  
  
• Control Loop Performance Analysis over Networked Control Systems
  In 28th Annual Conference of the IEEE Industrial Electronics Society (IECON02), Sevilla, Spain, November, 2002.
  Authors: José Yépez, Pau Martí, Josep M. Fuertes
  
  
• Peer-to-Peer Communication for Virtual Industrial Devices
  In 4th IEEE International Workshop on Factory Communications Systems (WFCS02), Västerås, Sweden, August, 2002.
  Authors: Manel Velasco, Pau Martí, Josep M. Fuertes
  
  
• A Control Performance Metric for Real-Time Timing Constraints
  In Work-in-progress Session, 14th Euromicro Conference on Real-Time Systems (ECRTS02), Vienna, Austria, June, 2002.
  Authors: Pau Martí, Josep M. Fuertes, Gerhard Fohler
  
  
• Jitter Compensation for Real-time Control Systems
  In 22nd IEEE Real-Time Systems Symposium (RTSS01), London, UK, December, 2001.
  Authors: Pau Martí, Gerhard Fohler, Krithi Ramamritham, Josep M. Fuertes
  
  
• Stability of On-line Compensated Real-Time Scheduled Control Tasks
  In IFAC Conference on New Technologies for Computer Control (NTCC01), Hong Kong, November, 2001.
  Authors: Pau Martí, Ricard Villà, Josep M. Fuertes, Gerhard Fohler
  
  
• An Integrated Approach to Real-time Distributed Control Systems Over Fieldbuses
  In 8th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA01), Antibes Juan-les-pins, France, October, 2001.
  Authors: Pau Martí, Josep M. Fuertes, Gerhard Fohler
  
  
• Object-Oriented Modeling for Remote Monitoring of Manufacturing Processes
  In 8th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA01), Antibes Juan-les-pins, France, October, 2001.
  Authors: Marga Marcos, Isidro Calvo, Dario Orive, Isabel Sarachaga, Josep M. Fuertes, Pau Martí, Ricard Villà, Stefan Buzoianu
  
  
• On Real-Time Control Tasks Schedulability
  In European Control Conference (ECC01), Porto, Portugal, September, 2001.
  Authors: Pau Martí, Ricard Villà, Josep M. Fuertes, Gerhard Fohler
  
  
• Sampling Jitter Compensation in Real-Time Control Systems
  In Work-in-progress Session, 13th Euromicro Conference on Real-Time Systems (ECRTS01), Delft, The Netherlands, June, 2001.
  Authors: Pau Martí, Josep M. Fuertes, Gerhard Fohler
  
  
• Distributed Supervision and Control of Fieldbus-Based Industrial Processes
  In 3rd IEEE International Workshop on Factory Communications Systems (WFCS00), Porto, Portugal, September, 2000.
  Authors: Pau Martí, Juan Carlos Aguado, Fabio Rolando, Manel Velasco, José Colomar, Josep M. Fuertes
  
  
• Real Time Scheduling Methods Requirements in Distributed Control Systems
  In 5th IFAC Workshop on Real-Time Programming (WRTP00), Palma de Mallorca, Spain, May, 2000.
  Authors: Pau Martí, Ricard Villà, Josep M. Fuertes, Gerhard Fohler
  
  
• A Java-Based Framework for Distributed Supervision and Control of Industrial Processes
  In 7th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA99), Barcelona, Spain, October, 1999.
  Authors: Pau Martí, Juan Carlos Aguado, Fabio Rolando, Manel Velasco, José Colomar, Josep M. Fuertes
  
  
• Distributed Internet-based Remote Control of On-board Processes (document not available)
  In 1st International Congress on Maritime Technological Innovations and Research, Barcelona, Spain, April, 1999.
  Authors: Juan Carlos Aguado, Pau Martí, Fabio Rolando, Manel Velasco, José Colomar, Josep M. Fuertes
  
  

Workshops and technical reports

• Performance Evaluation Framework (PEF) for Real-Time Embedded Control Systems
  Research report ESAII-RR-12-02, Automatic Control Department, Technical University of Catalonia, March, 2012.
  Authors: Camilo Lozoya, Pau Martí, Manel Velasco, Josep M. Fuertes
  
  
• Design of a Hands-on Course in Networked Control Systems (document not available)
  Research report ESAII-RR-12-01, Automatic Control Department, Technical University of Catalonia, report available here, January, 2012.
  Authors: Josep M. Fuertes, Ricard Villà, Jordi Ayza, Pere Marés, Pau Martí, Manel Velasco, José Yépez,