Jitterbug [Cervin et al., 2003; Lincoln and Cervin, 2002; Cervin and Lincoln, 2003] is a MATLAB-based analysis tool that makes it possible to compute a quadratic performance criterion for a linear control system under various timing conditions. The tool can also compute the spectral density of the signals in the system. Using the toolbox, one can easily and quickly assert how sensitive a control system is to delay, jitter, lost samples, etc., without resorting to simulation. The tool can also be used to investigate jitter-compensating controllers, aperiodic controllers, and multi-rate controllers. The main contribution of the toolbox, which is built on well-known theory (LQG theory and jump linear systems), is to make it easy to apply this type of stochastic analysis to a wide range of problems.
Jitterbug offers a collection of MATLAB routines that allow the user to build and analyze simple timing models of computer-controlled systems. A control system is built by connecting a number of continuous-time and discrete-time systems. For each subsystem, optional noise and cost specifications may be given. In the simplest case, the discrete—time systems are assumed to be updated in order during the control period. For each discrete system, a random delay (described by a discrete probability density function) can be specified that must elapse before the next system is updated.
The total cost of the system (summed over all subsystems) is computed algebraically if the timing model system is periodic or iteratively if the timing model is aperiodic.

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