Tweet
Tweet

Slide 1

Slide 1 text

Yusuke MIYAKE / Pepabo R&D Institute, GMO Pepabo, Inc. 2019.07.25 GopherCon 2019 Optimization for number of goroutines using feedback control

Slide 2

Slide 2 text

1SJODJQBMFOHJOFFS :VTVLF.*:",&!NPOPDISPNFHBOF 1FQBCP3%*OTUJUVUF (.01FQBCP *OD IUUQTCMPHNPOPDISPNFHBOFDPN

Slide 3

Slide 3 text

Go and I 3 • A Japanese gopher who loves writing OSS using Go. • monochromegane/the_platinum_searcher • An organizer of the local Go community in Fukuoka, Japan. • Fukuoka.go (https://fukuokago.dev) • Held Go Conference’19 summer in Fukuoka on 7/13. • https://fukuoka.gocon.jp 5IF(PHPQIFSXBTEFTJHOFECZ3FOFF'SFODI 5IFHPQIFSJMMVTUSBUJPOXBTESBXOCZ,FJUB,BXBNPUP -JDFOTFEVOEFSUIF$SFBUJWF$PNNPOT"UUSJCVUJPOTMJDFOTF

Slide 4

Slide 4 text

1. Introduction 2. Background 3. Proposal 4. Evaluation 5. Conclusion 4 Agenda

Slide 5

Slide 5 text

1. Introduction

Slide 6

Slide 6 text

How many is the optimal number of goroutines?

Slide 7

Slide 7 text

Performance tuning in case of pt 7 'JOE (PSPVUJOFT $IBO $IBO 4FBSDI .BUDI QU 1SJOU ʜ HPSPVUJOFT /VN$16 -JOVY $16 (0."9130$4

Slide 8

Slide 8 text

Performance tuning in case of pt 8 'JOE (PSPVUJOFT $IBO $IBO 4FBSDI .BUDI QU 1SJOU ʜ 3FBMUJNFWJSVTTDBOQSPDFTT 6OTUBCMF HPSPVUJOFT /VN$16 NBD04 $16 (0."9130$4

Slide 9

Slide 9 text

Performance tuning in case of pt 9 'JOE (PSPVUJOFT $IBO $IBO 4FBSDI .BUDI QU 1SJOU ʜ 3FBMUJNFWJSVTTDBOQSPDFTT NBD04 $16 (0."9130$4 ❌ HPSPVUJOFT /VN$16

Slide 10

Slide 10 text

Performance tuning in case of pt 10 • I chose stability rather than speed…

Slide 11

Slide 11 text

How many is the optimal number of goroutines in each case?

Slide 12

Slide 12 text

2. Background

Slide 13

Slide 13 text

1. Concurrency and complexity 2. Concurrency and Go 3. Concurrency and application

Slide 14

Slide 14 text

• Concurrency brings our application good performance and complexity. • We design a task to have concurrency and request runtime to run them in parallel. 14 Concurrency and complexity %FTJHO *NQMFNFOUBUJPO 3VOUJNF $PODVSSFOU 1BSBMMFM w 5ISFBENBOBHFNFOU w 3BDFDPOEJUJPOT w .FNPSZBDDFTTTZOD w %FBEMPDLT w 4UBSWBUJPO w (SBOVMBSJUZ w /VNCFSPG DPODVSSFODZ

Slide 15

Slide 15 text

1. Concurrency and complexity 2. Concurrency and Go 3. Concurrency and application

Slide 16

Slide 16 text

Concurrency and Go 16 • Go hides the complexity by smart runtime scheduler and features. 3VOUJNFTDIFEVMFS $IBOOFM %FTJHO *NQMFNFOUBUJPO 3VOUJNF $PODVSSFOU 1BSBMMFM w 5ISFBENBOBHFNFOU w (SBOVMBSJUZ w /VNCFSPG DPODVSSFODZ w 3BDFDPOEJUJPOT w .FNPSZBDDFTTTZOD w %FBEMPDLT w 4UBSWBUJPO

Slide 17

Slide 17 text

Runtime scheduler of Go 17 ( . 1 ( ( -PDBM3VO2VFVF (MPCBM3VO2VFVF ( ( SVOUJNFTZTNPO . TDIFEVMF FYFDVUF (GO HPFYJU • G: Goroutine • M: OS thread • P: Processor (Scheduling context) • It provides M:N Scheduler (Some goroutines:Some threads). • It has local run queue. • We can think of Goroutines as application-level threads.
 OS thread behaves like a worker for goroutine using a run queue. 3FGIUUQTTQFBLFSEFDLDPNSFUFSWJTJPOHPSVOUJNFTDIFEVMFS

Slide 18

Slide 18 text

New “g” 18 YD YD YD TUBDLHVBSE )JHI -PX YDE TIFETQ YDF TULUPQTQ Stack (2048bytes) TULUPQ 4UBDL 4UBDLHVBSE Sched (type gobuf) type gobuf struct { sp uintptr // 824633919448 -> 0xc0000307d8 pc uintptr // 4359616 -> 0x4285c0 g guintptr // newg ctxt unsafe.Pointer // 0x4c96c0 ret sys.Uintreg. // 0 lr uintptr // 0 bp uintptr // 0 } • Runtime allocates 2kB stack to “g”. • “g” has gobuf named “sched”. • “sched” has goroutines state. (e.g.: stack pointer, program counter…)

Slide 19

Slide 19 text

1. Concurrency and complexity 2. Concurrency and Go 3. Concurrency and application

Slide 20

Slide 20 text

Concurrency and application 20 • The design for the number of concurrency is important to achieve both speed and stability. • Running many tasks tend to cause starvation. %FTJHO *NQMFNFOUBUJPO 3VOUJNF $PODVSSFOU 1BSBMMFM w 5ISFBENBOBHFNFOU w (SBOVMBSJUZ w /VNCFSPG DPODVSSFODZ w 3BDFDPOEJUJPOT w .FNPSZBDDFTTTZOD w %FBEMPDLT w 4UBSWBUJPO

Slide 21

Slide 21 text

Concurrency and application 21 • The design for the number of concurrency is difficult. • The optimal number depends on the app, environments and load condition. • The environment in which the program is tuned and the environment in which it will be executed is different. • It's desirable for the number of concurrency to be determined dynamically and be controlled rapidly by detection the bottleneck on running program.

Slide 22

Slide 22 text

3. Proposal

Slide 23

Slide 23 text

Goal 23 • The optimal number of concurrency to be determined dynamically and be controlled rapidly.

Slide 24

Slide 24 text

Basic idea 24 1. Increase the number of goroutines to performance target 1FSGPSNBODF /VNCFSPGHPSPVUJOFT 4UFQ (PSPVUJOFT 1FSGPSNBODF 1FSGPSNBODFUBSHFU

Slide 25

Slide 25 text

Basic idea 25 1. Increase the number of goroutines to performance target 2. Stop increasing the number of goroutines if it meets the performance target 1FSGPSNBODF /VNCFSPGHPSPVUJOFT 4UFQ (PSPVUJOFT 1FSGPSNBODF 1FSGPSNBODFUBSHFU

Slide 26

Slide 26 text

Basic idea 26 1. Increase the number of goroutines to performance target 2. Stop increasing the number of goroutines if it meets the performance target 3. Attempt to decrease the number of goroutines 1FSGPSNBODF /VNCFSPGHPSPVUJOFT 4UFQ (PSPVUJOFT 1FSGPSNBODF 1FSGPSNBODFUBSHFU

Slide 27

Slide 27 text

Issues to solve for the realization 27 1. Selection of performance metrics 2. Finding how to control rapidly and continuously

Slide 28

Slide 28 text

Performance metrics

Slide 29

Slide 29 text

Performance metrics 29 • Independent resource type which task use. • e.g.: CPU usage, Throughput. • Go's scheduler turns blocking tasks into as CPU bound as possible by switching tasks continuously.

Slide 30

Slide 30 text

Performance metrics 30 • The metrics upper limit is calculated on running. 1. Set the target value high 1FSGPSNBODF /VNCFSPGHPSPVUJOFT 4UFQ (PSPVUJOFT 1FSGPSNBODF 1FSGPSNBODFUBSHFU

Slide 31

Slide 31 text

Performance metrics 31 • The metrics upper limit is calculated on running. 1. Set the target value high 2. gradually adjust it to the upper limit value. 1FSGPSNBODF /VNCFSPGHPSPVUJOFT 4UFQ (PSPVUJOFT 1FSGPSNBODF 1FSGPSNBODFUBSHFU

Slide 32

Slide 32 text

Determining

Slide 33

Slide 33 text

Determine the number of goroutines 33 • Determine the number of goroutines based on the metrics • Continuously • Rapidly • Accurately • Feedback control meets these conditions.

Slide 34

Slide 34 text

• Tracking a given set-point using errors from the set-point. • Applying an automatic correction continuously. • Identifying suitable set-point and input/output is important. • Dealing with the system as a black box. Feedback control $POUSPMMFS 4ZTUFN *OQVU 0VUQVU &SSPS 'FFECBDLQBUI 4FUQPJOU

Slide 35

Slide 35 text

• Applying a correction rapidly and accurately. • The output is a combination of its {Proportional, Integral, Derivative} control. 35 PID Controller (1/2) $POUSPMMFS &SSPS 4FUQPJOU 1 Kpe(t) AAACmHichVG7SgNBFL1ZXzE+ErURbYIhEi3CrAiKVdBCxSYP85AYwu46iUv2xe4kEIM/YGclmErBQiz8Axsbf8AinyApI9hYePcBosF4l9m5c+aeM/dwRUORLUZIx8cNDY+MjvnHAxOTU9PB0MxsztLrpkSzkq7oZkEULKrIGs0ymSm0YJhUUEWF5sXajn2fb1DTknXtkDUNWlKFqiZXZElgCOUPygaNsZVyKELixIlwf8J7SQS8SOqhJziGE9BBgjqoQEEDhrkCAlj4FYEHAgZiJWghZmImO/cUziGA3DpWUawQEK3hv4qnoodqeLY1LYct4SsKLhOZYYiSV3JPeuSFPJA38vmnVsvRsHtp4i66XGqUgxfzmY9/WSruDE6/WQMYIla7nXXII/bVPVot5gd6ZFCBTcebjF4NB7FdS65O4+yql9lKR1vL5JZ00e8NKj+jstZ4l+5SNN3GcfG/h9Of5NbiPInzqfVIYtsbnB8WYQliOJ0NSMAeJCHr9HYJ19DmFrgEt8vtu6Wcz+PMwY/g0l/eDZev AAACmHichVG7SgNBFL1ZXzE+ErURbYIhEi3CrAiKVdBCxSYP85AYwu46iUv2xe4kEIM/YGclmErBQiz8Axsbf8AinyApI9hYePcBosF4l9m5c+aeM/dwRUORLUZIx8cNDY+MjvnHAxOTU9PB0MxsztLrpkSzkq7oZkEULKrIGs0ymSm0YJhUUEWF5sXajn2fb1DTknXtkDUNWlKFqiZXZElgCOUPygaNsZVyKELixIlwf8J7SQS8SOqhJziGE9BBgjqoQEEDhrkCAlj4FYEHAgZiJWghZmImO/cUziGA3DpWUawQEK3hv4qnoodqeLY1LYct4SsKLhOZYYiSV3JPeuSFPJA38vmnVsvRsHtp4i66XGqUgxfzmY9/WSruDE6/WQMYIla7nXXII/bVPVot5gd6ZFCBTcebjF4NB7FdS65O4+yql9lKR1vL5JZ00e8NKj+jstZ4l+5SNN3GcfG/h9Of5NbiPInzqfVIYtsbnB8WYQliOJ0NSMAeJCHr9HYJ19DmFrgEt8vtu6Wcz+PMwY/g0l/eDZev AAACmHichVG7SgNBFL1ZXzE+ErURbYIhEi3CrAiKVdBCxSYP85AYwu46iUv2xe4kEIM/YGclmErBQiz8Axsbf8AinyApI9hYePcBosF4l9m5c+aeM/dwRUORLUZIx8cNDY+MjvnHAxOTU9PB0MxsztLrpkSzkq7oZkEULKrIGs0ymSm0YJhUUEWF5sXajn2fb1DTknXtkDUNWlKFqiZXZElgCOUPygaNsZVyKELixIlwf8J7SQS8SOqhJziGE9BBgjqoQEEDhrkCAlj4FYEHAgZiJWghZmImO/cUziGA3DpWUawQEK3hv4qnoodqeLY1LYct4SsKLhOZYYiSV3JPeuSFPJA38vmnVsvRsHtp4i66XGqUgxfzmY9/WSruDE6/WQMYIla7nXXII/bVPVot5gd6ZFCBTcebjF4NB7FdS65O4+yql9lKR1vL5JZ00e8NKj+jstZ4l+5SNN3GcfG/h9Of5NbiPInzqfVIYtsbnB8WYQliOJ0NSMAeJCHr9HYJ19DmFrgEt8vtu6Wcz+PMwY/g0l/eDZev AAACmHichVG7SgNBFL1ZXzE+ErURbYIhEi3CrAiKVdBCxSYP85AYwu46iUv2xe4kEIM/YGclmErBQiz8Axsbf8AinyApI9hYePcBosF4l9m5c+aeM/dwRUORLUZIx8cNDY+MjvnHAxOTU9PB0MxsztLrpkSzkq7oZkEULKrIGs0ymSm0YJhUUEWF5sXajn2fb1DTknXtkDUNWlKFqiZXZElgCOUPygaNsZVyKELixIlwf8J7SQS8SOqhJziGE9BBgjqoQEEDhrkCAlj4FYEHAgZiJWghZmImO/cUziGA3DpWUawQEK3hv4qnoodqeLY1LYct4SsKLhOZYYiSV3JPeuSFPJA38vmnVsvRsHtp4i66XGqUgxfzmY9/WSruDE6/WQMYIla7nXXII/bVPVot5gd6ZFCBTcebjF4NB7FdS65O4+yql9lKR1vL5JZ00e8NKj+jstZ4l+5SNN3GcfG/h9Of5NbiPInzqfVIYtsbnB8WYQliOJ0NSMAeJCHr9HYJ19DmFrgEt8vtu6Wcz+PMwY/g0l/eDZev * Ki Z t 0 e(r)dr AAACpnichVFNS+NQFD3Gz6lf1W4G3JQpSp1FuRFBcSW6EQakrVOrVM0k8amPpklIXgu1+Af8Ay5mMYwgKC78B7OZzfyBWfgTxKWCm1nMbRoQFfWGvHfeefecdy/X8h0ZKqLrLq27p7evf+BDYnBoeGQ0OTa+Hnr1wBYl23O8YMMyQ+FIV5SUVI7Y8ANh1ixHlK3qcvu+3BBBKD33q2r6Yrtm7rtyT9qmYspIpr4Ycku6yqAdlRbZYDq9GxjJDOUoivRLoMcggzjyXvIXtrALDzbqqEHAhWLswETIXwU6CD5z22gxFzCS0b3AERKsrXOW4AyT2Sqv+3yqxKzL57ZnGKltfsXhP2BlGpP0ly7ojv7QJd3Qv1e9WpFHu5Ym71ZHK3xj9Pjj2sO7qhrvCgePqjcUFmd3KrumK67rdvNzpfxmjwp7mI96k9yrHzHtru2OT+Pw5G5toTjZmqJTuuV+f7Lzb3Z2G/f2WUEUv/O49OfDeQnWZ3I65fTCbGZxKR7cACbwCVmezhwWsYI8SvxqEz9wjgstq61qJa3cSdW6Yk0KT0L79h9J15xt AAACpnichVFNS+NQFD3Gz6lf1W4G3JQpSp1FuRFBcSW6EQakrVOrVM0k8amPpklIXgu1+Af8Ay5mMYwgKC78B7OZzfyBWfgTxKWCm1nMbRoQFfWGvHfeefecdy/X8h0ZKqLrLq27p7evf+BDYnBoeGQ0OTa+Hnr1wBYl23O8YMMyQ+FIV5SUVI7Y8ANh1ixHlK3qcvu+3BBBKD33q2r6Yrtm7rtyT9qmYspIpr4Ycku6yqAdlRbZYDq9GxjJDOUoivRLoMcggzjyXvIXtrALDzbqqEHAhWLswETIXwU6CD5z22gxFzCS0b3AERKsrXOW4AyT2Sqv+3yqxKzL57ZnGKltfsXhP2BlGpP0ly7ojv7QJd3Qv1e9WpFHu5Ym71ZHK3xj9Pjj2sO7qhrvCgePqjcUFmd3KrumK67rdvNzpfxmjwp7mI96k9yrHzHtru2OT+Pw5G5toTjZmqJTuuV+f7Lzb3Z2G/f2WUEUv/O49OfDeQnWZ3I65fTCbGZxKR7cACbwCVmezhwWsYI8SvxqEz9wjgstq61qJa3cSdW6Yk0KT0L79h9J15xt AAACpnichVFNS+NQFD3Gz6lf1W4G3JQpSp1FuRFBcSW6EQakrVOrVM0k8amPpklIXgu1+Af8Ay5mMYwgKC78B7OZzfyBWfgTxKWCm1nMbRoQFfWGvHfeefecdy/X8h0ZKqLrLq27p7evf+BDYnBoeGQ0OTa+Hnr1wBYl23O8YMMyQ+FIV5SUVI7Y8ANh1ixHlK3qcvu+3BBBKD33q2r6Yrtm7rtyT9qmYspIpr4Ycku6yqAdlRbZYDq9GxjJDOUoivRLoMcggzjyXvIXtrALDzbqqEHAhWLswETIXwU6CD5z22gxFzCS0b3AERKsrXOW4AyT2Sqv+3yqxKzL57ZnGKltfsXhP2BlGpP0ly7ojv7QJd3Qv1e9WpFHu5Ym71ZHK3xj9Pjj2sO7qhrvCgePqjcUFmd3KrumK67rdvNzpfxmjwp7mI96k9yrHzHtru2OT+Pw5G5toTjZmqJTuuV+f7Lzb3Z2G/f2WUEUv/O49OfDeQnWZ3I65fTCbGZxKR7cACbwCVmezhwWsYI8SvxqEz9wjgstq61qJa3cSdW6Yk0KT0L79h9J15xt AAACpnichVFNS+NQFD3Gz6lf1W4G3JQpSp1FuRFBcSW6EQakrVOrVM0k8amPpklIXgu1+Af8Ay5mMYwgKC78B7OZzfyBWfgTxKWCm1nMbRoQFfWGvHfeefecdy/X8h0ZKqLrLq27p7evf+BDYnBoeGQ0OTa+Hnr1wBYl23O8YMMyQ+FIV5SUVI7Y8ANh1ixHlK3qcvu+3BBBKD33q2r6Yrtm7rtyT9qmYspIpr4Ycku6yqAdlRbZYDq9GxjJDOUoivRLoMcggzjyXvIXtrALDzbqqEHAhWLswETIXwU6CD5z22gxFzCS0b3AERKsrXOW4AyT2Sqv+3yqxKzL57ZnGKltfsXhP2BlGpP0ly7ojv7QJd3Qv1e9WpFHu5Ym71ZHK3xj9Pjj2sO7qhrvCgePqjcUFmd3KrumK67rdvNzpfxmjwp7mI96k9yrHzHtru2OT+Pw5G5toTjZmqJTuuV+f7Lzb3Z2G/f2WUEUv/O49OfDeQnWZ3I65fTCbGZxKR7cACbwCVmezhwWsYI8SvxqEz9wjgstq61qJa3cSdW6Yk0KT0L79h9J15xt % Kd de(t) dt AAACp3ichVHLSsNAFD2Nr/quj4XgplgUdVEmIiiuim4EF9rWPqRKSdKphqZJSKYFDf0Bf8CFGxVcVBf+gRs3/oALP0FcKrhx4W0aEBX1hsycOXPPmXu5qm3ormDsMSR1dHZ194R7+/oHBoeGIyOjWdeqORrPaJZhOXlVcbmhmzwjdGHwvO1wpaoaPKdW1lr3uTp3XN0yt8Whzfeqyr6pl3VNEUQVI+MbxVJ0t+womlfis2Ku4ZVEoxiJsTjzI/oTyAGIIYgtK3KLXZRgQUMNVXCYEIQNKHDpK0AGg03cHjziHEK6f8/RQB9pa5TFKUMhtkLrPp0KAWvSueXp+mqNXjHod0gZxTR7YE32wu7ZNXti7796eb5Hq5ZD2tW2ltvF4eOJ9Nu/qirtAgefqj8UKmW3K3tkN1TX8858IfdnjwJlLPu96dSr7TOtrrW2T/3o5CW9kpr2ZtgFe6Z+z8n5jpzN+qt2meSpUxqX/H04P0F2IS6zuJxcjCVWg8GFMYkpzNJ0lpDAOraQoVePcIYmrqQ5aVPKSvl2qhQKNGP4EpLyAfEdnZo= AAACp3ichVHLSsNAFD2Nr/quj4XgplgUdVEmIiiuim4EF9rWPqRKSdKphqZJSKYFDf0Bf8CFGxVcVBf+gRs3/oALP0FcKrhx4W0aEBX1hsycOXPPmXu5qm3ormDsMSR1dHZ194R7+/oHBoeGIyOjWdeqORrPaJZhOXlVcbmhmzwjdGHwvO1wpaoaPKdW1lr3uTp3XN0yt8Whzfeqyr6pl3VNEUQVI+MbxVJ0t+womlfis2Ku4ZVEoxiJsTjzI/oTyAGIIYgtK3KLXZRgQUMNVXCYEIQNKHDpK0AGg03cHjziHEK6f8/RQB9pa5TFKUMhtkLrPp0KAWvSueXp+mqNXjHod0gZxTR7YE32wu7ZNXti7796eb5Hq5ZD2tW2ltvF4eOJ9Nu/qirtAgefqj8UKmW3K3tkN1TX8858IfdnjwJlLPu96dSr7TOtrrW2T/3o5CW9kpr2ZtgFe6Z+z8n5jpzN+qt2meSpUxqX/H04P0F2IS6zuJxcjCVWg8GFMYkpzNJ0lpDAOraQoVePcIYmrqQ5aVPKSvl2qhQKNGP4EpLyAfEdnZo= AAACp3ichVHLSsNAFD2Nr/quj4XgplgUdVEmIiiuim4EF9rWPqRKSdKphqZJSKYFDf0Bf8CFGxVcVBf+gRs3/oALP0FcKrhx4W0aEBX1hsycOXPPmXu5qm3ormDsMSR1dHZ194R7+/oHBoeGIyOjWdeqORrPaJZhOXlVcbmhmzwjdGHwvO1wpaoaPKdW1lr3uTp3XN0yt8Whzfeqyr6pl3VNEUQVI+MbxVJ0t+womlfis2Ku4ZVEoxiJsTjzI/oTyAGIIYgtK3KLXZRgQUMNVXCYEIQNKHDpK0AGg03cHjziHEK6f8/RQB9pa5TFKUMhtkLrPp0KAWvSueXp+mqNXjHod0gZxTR7YE32wu7ZNXti7796eb5Hq5ZD2tW2ltvF4eOJ9Nu/qirtAgefqj8UKmW3K3tkN1TX8858IfdnjwJlLPu96dSr7TOtrrW2T/3o5CW9kpr2ZtgFe6Z+z8n5jpzN+qt2meSpUxqX/H04P0F2IS6zuJxcjCVWg8GFMYkpzNJ0lpDAOraQoVePcIYmrqQ5aVPKSvl2qhQKNGP4EpLyAfEdnZo= AAACp3ichVHLSsNAFD2Nr/quj4XgplgUdVEmIiiuim4EF9rWPqRKSdKphqZJSKYFDf0Bf8CFGxVcVBf+gRs3/oALP0FcKrhx4W0aEBX1hsycOXPPmXu5qm3ormDsMSR1dHZ194R7+/oHBoeGIyOjWdeqORrPaJZhOXlVcbmhmzwjdGHwvO1wpaoaPKdW1lr3uTp3XN0yt8Whzfeqyr6pl3VNEUQVI+MbxVJ0t+womlfis2Ku4ZVEoxiJsTjzI/oTyAGIIYgtK3KLXZRgQUMNVXCYEIQNKHDpK0AGg03cHjziHEK6f8/RQB9pa5TFKUMhtkLrPp0KAWvSueXp+mqNXjHod0gZxTR7YE32wu7ZNXti7796eb5Hq5ZD2tW2ltvF4eOJ9Nu/qirtAgefqj8UKmW3K3tkN1TX8858IfdnjwJlLPu96dSr7TOtrrW2T/3o5CW9kpr2ZtgFe6Z+z8n5jpzN+qt2meSpUxqX/H04P0F2IS6zuJxcjCVWg8GFMYkpzNJ0lpDAOraQoVePcIYmrqQ5aVPKSvl2qhQKNGP4EpLyAfEdnZo= r AAACknichVG7SgNBFD1ZXzE+Eh+FYCMGRSzCrAiKVdTGwsIk5iFRZHcddchmd9mdBDT4A9oqFlYKFmLhH9jY+AMWfoKkjGBj4c1mQVTUu+zMmTP3nLmXqzum8CRjzyGlrb2jsyvcHenp7euPxgYGc55dcQ2eNWzTdgu65nFTWDwrhTR5wXG5VtZNntdLy837fJW7nrCtdXng8K2ytmeJXWFokqiUux2LswTzY+wnUAMQRxBrduwem9iBDQMVlMFhQRI2ocGjrwgVDA5xW6gR5xIS/j3HESKkrVAWpwyN2BKte3QqBqxF56an56sNesWk3yXlGCbYE7thDfbIbtkLe//Vq+Z7NGs5oF1vabmzHT0eybz9qyrTLrH/qfpDoVN2q7Jndkd11Temi/k/e5TYxbzfm6BeHZ9pdm20fKqH543MQnqiNsmuWJ36vSTnB3K2qq/GdYqnL2hc6vfh/AS5mYTKEmpqNp5cCgYXxijGMUXTmUMSK1hDll7lOMEpzpRhZUFZVJZbqUoo0AzhSyirH/1ElaE= AAACknichVG7SgNBFD1ZXzE+Eh+FYCMGRSzCrAiKVdTGwsIk5iFRZHcddchmd9mdBDT4A9oqFlYKFmLhH9jY+AMWfoKkjGBj4c1mQVTUu+zMmTP3nLmXqzum8CRjzyGlrb2jsyvcHenp7euPxgYGc55dcQ2eNWzTdgu65nFTWDwrhTR5wXG5VtZNntdLy837fJW7nrCtdXng8K2ytmeJXWFokqiUux2LswTzY+wnUAMQRxBrduwem9iBDQMVlMFhQRI2ocGjrwgVDA5xW6gR5xIS/j3HESKkrVAWpwyN2BKte3QqBqxF56an56sNesWk3yXlGCbYE7thDfbIbtkLe//Vq+Z7NGs5oF1vabmzHT0eybz9qyrTLrH/qfpDoVN2q7Jndkd11Temi/k/e5TYxbzfm6BeHZ9pdm20fKqH543MQnqiNsmuWJ36vSTnB3K2qq/GdYqnL2hc6vfh/AS5mYTKEmpqNp5cCgYXxijGMUXTmUMSK1hDll7lOMEpzpRhZUFZVJZbqUoo0AzhSyirH/1ElaE= AAACknichVG7SgNBFD1ZXzE+Eh+FYCMGRSzCrAiKVdTGwsIk5iFRZHcddchmd9mdBDT4A9oqFlYKFmLhH9jY+AMWfoKkjGBj4c1mQVTUu+zMmTP3nLmXqzum8CRjzyGlrb2jsyvcHenp7euPxgYGc55dcQ2eNWzTdgu65nFTWDwrhTR5wXG5VtZNntdLy837fJW7nrCtdXng8K2ytmeJXWFokqiUux2LswTzY+wnUAMQRxBrduwem9iBDQMVlMFhQRI2ocGjrwgVDA5xW6gR5xIS/j3HESKkrVAWpwyN2BKte3QqBqxF56an56sNesWk3yXlGCbYE7thDfbIbtkLe//Vq+Z7NGs5oF1vabmzHT0eybz9qyrTLrH/qfpDoVN2q7Jndkd11Temi/k/e5TYxbzfm6BeHZ9pdm20fKqH543MQnqiNsmuWJ36vSTnB3K2qq/GdYqnL2hc6vfh/AS5mYTKEmpqNp5cCgYXxijGMUXTmUMSK1hDll7lOMEpzpRhZUFZVJZbqUoo0AzhSyirH/1ElaE= AAACknichVG7SgNBFD1ZXzE+Eh+FYCMGRSzCrAiKVdTGwsIk5iFRZHcddchmd9mdBDT4A9oqFlYKFmLhH9jY+AMWfoKkjGBj4c1mQVTUu+zMmTP3nLmXqzum8CRjzyGlrb2jsyvcHenp7euPxgYGc55dcQ2eNWzTdgu65nFTWDwrhTR5wXG5VtZNntdLy837fJW7nrCtdXng8K2ytmeJXWFokqiUux2LswTzY+wnUAMQRxBrduwem9iBDQMVlMFhQRI2ocGjrwgVDA5xW6gR5xIS/j3HESKkrVAWpwyN2BKte3QqBqxF56an56sNesWk3yXlGCbYE7thDfbIbtkLe//Vq+Z7NGs5oF1vabmzHT0eybz9qyrTLrH/qfpDoVN2q7Jndkd11Temi/k/e5TYxbzfm6BeHZ9pdm20fKqH543MQnqiNsmuWJ36vSTnB3K2qq/GdYqnL2hc6vfh/AS5mYTKEmpqNp5cCgYXxijGMUXTmUMSK1hDll7lOMEpzpRhZUFZVJZbqUoo0AzhSyirH/1ElaE= e AAACknichVG7SgNBFD1Z3/EVH4VgIwZFLMKsCEoqNY2FRR7GKFFkdx11cLO77E4CMfgD2ioWVgoWYuEf2Nj4AxZ+glgq2Fh49wGiot5lZ86cuefMvVzdMYUnGXuMKU3NLa1t7R3xzq7unt5EX/+KZ1ddgxcN27TdVV3zuCksXpRCmnzVcblW0U1e0vcy/n2pxl1P2NayrDt8o6LtWGJbGJokKsc3E0mWYkGM/ARqBJKIImsnbrGOLdgwUEUFHBYkYRMaPPrKUMHgELeBBnEuIRHccxwgTtoqZXHK0Ijdo3WHTuWItejse3qB2qBXTPpdUo5gjD2wK/bC7tk1e2Lvv3o1Ag+/ljrteqjlzmbv4VDh7V9VhXaJ3U/VHwqdssPKHtkN1fW8Nlku/dmjxDZmg94E9eoEjN+1EfrU9k9fCun8WGOcXbBn6vecnO/I2aq9Gpc5nj+jcanfh/MTrEylVJZSc9PJuYVocO0YxigmaDozmMMisijSqxxHOMaJMqiklXklE6YqsUgzgC+hLH0A4O6VlA== AAACknichVG7SgNBFD1Z3/EVH4VgIwZFLMKsCEoqNY2FRR7GKFFkdx11cLO77E4CMfgD2ioWVgoWYuEf2Nj4AxZ+glgq2Fh49wGiot5lZ86cuefMvVzdMYUnGXuMKU3NLa1t7R3xzq7unt5EX/+KZ1ddgxcN27TdVV3zuCksXpRCmnzVcblW0U1e0vcy/n2pxl1P2NayrDt8o6LtWGJbGJokKsc3E0mWYkGM/ARqBJKIImsnbrGOLdgwUEUFHBYkYRMaPPrKUMHgELeBBnEuIRHccxwgTtoqZXHK0Ijdo3WHTuWItejse3qB2qBXTPpdUo5gjD2wK/bC7tk1e2Lvv3o1Ag+/ljrteqjlzmbv4VDh7V9VhXaJ3U/VHwqdssPKHtkN1fW8Nlku/dmjxDZmg94E9eoEjN+1EfrU9k9fCun8WGOcXbBn6vecnO/I2aq9Gpc5nj+jcanfh/MTrEylVJZSc9PJuYVocO0YxigmaDozmMMisijSqxxHOMaJMqiklXklE6YqsUgzgC+hLH0A4O6VlA== AAACknichVG7SgNBFD1Z3/EVH4VgIwZFLMKsCEoqNY2FRR7GKFFkdx11cLO77E4CMfgD2ioWVgoWYuEf2Nj4AxZ+glgq2Fh49wGiot5lZ86cuefMvVzdMYUnGXuMKU3NLa1t7R3xzq7unt5EX/+KZ1ddgxcN27TdVV3zuCksXpRCmnzVcblW0U1e0vcy/n2pxl1P2NayrDt8o6LtWGJbGJokKsc3E0mWYkGM/ARqBJKIImsnbrGOLdgwUEUFHBYkYRMaPPrKUMHgELeBBnEuIRHccxwgTtoqZXHK0Ijdo3WHTuWItejse3qB2qBXTPpdUo5gjD2wK/bC7tk1e2Lvv3o1Ag+/ljrteqjlzmbv4VDh7V9VhXaJ3U/VHwqdssPKHtkN1fW8Nlku/dmjxDZmg94E9eoEjN+1EfrU9k9fCun8WGOcXbBn6vecnO/I2aq9Gpc5nj+jcanfh/MTrEylVJZSc9PJuYVocO0YxigmaDozmMMisijSqxxHOMaJMqiklXklE6YqsUgzgC+hLH0A4O6VlA== AAACknichVG7SgNBFD1Z3/EVH4VgIwZFLMKsCEoqNY2FRR7GKFFkdx11cLO77E4CMfgD2ioWVgoWYuEf2Nj4AxZ+glgq2Fh49wGiot5lZ86cuefMvVzdMYUnGXuMKU3NLa1t7R3xzq7unt5EX/+KZ1ddgxcN27TdVV3zuCksXpRCmnzVcblW0U1e0vcy/n2pxl1P2NayrDt8o6LtWGJbGJokKsc3E0mWYkGM/ARqBJKIImsnbrGOLdgwUEUFHBYkYRMaPPrKUMHgELeBBnEuIRHccxwgTtoqZXHK0Ijdo3WHTuWItejse3qB2qBXTPpdUo5gjD2wK/bC7tk1e2Lvv3o1Ag+/ljrteqjlzmbv4VDh7V9VhXaJ3U/VHwqdssPKHtkN1fW8Nlku/dmjxDZmg94E9eoEjN+1EfrU9k9fCun8WGOcXbBn6vecnO/I2aq9Gpc5nj+jcanfh/MTrEylVJZSc9PJuYVocO0YxigmaDozmMMisijSqxxHOMaJMqiklXklE6YqsUgzgC+hLH0A4O6VlA== 4ZTUFN 'FFECBDLQBUI *OQVU 0VUQVU

Slide 36

Slide 36 text

• Proportional control(P) output is proportional to the error. • Integral control(I) output is proportional to the integral of the error over time. • Derivative control(D) output is proportional to the derivative of the error. 36 PID Controller (2/2) $POUSPMMFS &SSPS 4FUQPJOU 1 Kpe(t) AAACmHichVG7SgNBFL1ZXzE+ErURbYIhEi3CrAiKVdBCxSYP85AYwu46iUv2xe4kEIM/YGclmErBQiz8Axsbf8AinyApI9hYePcBosF4l9m5c+aeM/dwRUORLUZIx8cNDY+MjvnHAxOTU9PB0MxsztLrpkSzkq7oZkEULKrIGs0ymSm0YJhUUEWF5sXajn2fb1DTknXtkDUNWlKFqiZXZElgCOUPygaNsZVyKELixIlwf8J7SQS8SOqhJziGE9BBgjqoQEEDhrkCAlj4FYEHAgZiJWghZmImO/cUziGA3DpWUawQEK3hv4qnoodqeLY1LYct4SsKLhOZYYiSV3JPeuSFPJA38vmnVsvRsHtp4i66XGqUgxfzmY9/WSruDE6/WQMYIla7nXXII/bVPVot5gd6ZFCBTcebjF4NB7FdS65O4+yql9lKR1vL5JZ00e8NKj+jstZ4l+5SNN3GcfG/h9Of5NbiPInzqfVIYtsbnB8WYQliOJ0NSMAeJCHr9HYJ19DmFrgEt8vtu6Wcz+PMwY/g0l/eDZev AAACmHichVG7SgNBFL1ZXzE+ErURbYIhEi3CrAiKVdBCxSYP85AYwu46iUv2xe4kEIM/YGclmErBQiz8Axsbf8AinyApI9hYePcBosF4l9m5c+aeM/dwRUORLUZIx8cNDY+MjvnHAxOTU9PB0MxsztLrpkSzkq7oZkEULKrIGs0ymSm0YJhUUEWF5sXajn2fb1DTknXtkDUNWlKFqiZXZElgCOUPygaNsZVyKELixIlwf8J7SQS8SOqhJziGE9BBgjqoQEEDhrkCAlj4FYEHAgZiJWghZmImO/cUziGA3DpWUawQEK3hv4qnoodqeLY1LYct4SsKLhOZYYiSV3JPeuSFPJA38vmnVsvRsHtp4i66XGqUgxfzmY9/WSruDE6/WQMYIla7nXXII/bVPVot5gd6ZFCBTcebjF4NB7FdS65O4+yql9lKR1vL5JZ00e8NKj+jstZ4l+5SNN3GcfG/h9Of5NbiPInzqfVIYtsbnB8WYQliOJ0NSMAeJCHr9HYJ19DmFrgEt8vtu6Wcz+PMwY/g0l/eDZev AAACmHichVG7SgNBFL1ZXzE+ErURbYIhEi3CrAiKVdBCxSYP85AYwu46iUv2xe4kEIM/YGclmErBQiz8Axsbf8AinyApI9hYePcBosF4l9m5c+aeM/dwRUORLUZIx8cNDY+MjvnHAxOTU9PB0MxsztLrpkSzkq7oZkEULKrIGs0ymSm0YJhUUEWF5sXajn2fb1DTknXtkDUNWlKFqiZXZElgCOUPygaNsZVyKELixIlwf8J7SQS8SOqhJziGE9BBgjqoQEEDhrkCAlj4FYEHAgZiJWghZmImO/cUziGA3DpWUawQEK3hv4qnoodqeLY1LYct4SsKLhOZYYiSV3JPeuSFPJA38vmnVsvRsHtp4i66XGqUgxfzmY9/WSruDE6/WQMYIla7nXXII/bVPVot5gd6ZFCBTcebjF4NB7FdS65O4+yql9lKR1vL5JZ00e8NKj+jstZ4l+5SNN3GcfG/h9Of5NbiPInzqfVIYtsbnB8WYQliOJ0NSMAeJCHr9HYJ19DmFrgEt8vtu6Wcz+PMwY/g0l/eDZev AAACmHichVG7SgNBFL1ZXzE+ErURbYIhEi3CrAiKVdBCxSYP85AYwu46iUv2xe4kEIM/YGclmErBQiz8Axsbf8AinyApI9hYePcBosF4l9m5c+aeM/dwRUORLUZIx8cNDY+MjvnHAxOTU9PB0MxsztLrpkSzkq7oZkEULKrIGs0ymSm0YJhUUEWF5sXajn2fb1DTknXtkDUNWlKFqiZXZElgCOUPygaNsZVyKELixIlwf8J7SQS8SOqhJziGE9BBgjqoQEEDhrkCAlj4FYEHAgZiJWghZmImO/cUziGA3DpWUawQEK3hv4qnoodqeLY1LYct4SsKLhOZYYiSV3JPeuSFPJA38vmnVsvRsHtp4i66XGqUgxfzmY9/WSruDE6/WQMYIla7nXXII/bVPVot5gd6ZFCBTcebjF4NB7FdS65O4+yql9lKR1vL5JZ00e8NKj+jstZ4l+5SNN3GcfG/h9Of5NbiPInzqfVIYtsbnB8WYQliOJ0NSMAeJCHr9HYJ19DmFrgEt8vtu6Wcz+PMwY/g0l/eDZev * Ki Z t 0 e(r)dr AAACpnichVFNS+NQFD3Gz6lf1W4G3JQpSp1FuRFBcSW6EQakrVOrVM0k8amPpklIXgu1+Af8Ay5mMYwgKC78B7OZzfyBWfgTxKWCm1nMbRoQFfWGvHfeefecdy/X8h0ZKqLrLq27p7evf+BDYnBoeGQ0OTa+Hnr1wBYl23O8YMMyQ+FIV5SUVI7Y8ANh1ixHlK3qcvu+3BBBKD33q2r6Yrtm7rtyT9qmYspIpr4Ycku6yqAdlRbZYDq9GxjJDOUoivRLoMcggzjyXvIXtrALDzbqqEHAhWLswETIXwU6CD5z22gxFzCS0b3AERKsrXOW4AyT2Sqv+3yqxKzL57ZnGKltfsXhP2BlGpP0ly7ojv7QJd3Qv1e9WpFHu5Ym71ZHK3xj9Pjj2sO7qhrvCgePqjcUFmd3KrumK67rdvNzpfxmjwp7mI96k9yrHzHtru2OT+Pw5G5toTjZmqJTuuV+f7Lzb3Z2G/f2WUEUv/O49OfDeQnWZ3I65fTCbGZxKR7cACbwCVmezhwWsYI8SvxqEz9wjgstq61qJa3cSdW6Yk0KT0L79h9J15xt AAACpnichVFNS+NQFD3Gz6lf1W4G3JQpSp1FuRFBcSW6EQakrVOrVM0k8amPpklIXgu1+Af8Ay5mMYwgKC78B7OZzfyBWfgTxKWCm1nMbRoQFfWGvHfeefecdy/X8h0ZKqLrLq27p7evf+BDYnBoeGQ0OTa+Hnr1wBYl23O8YMMyQ+FIV5SUVI7Y8ANh1ixHlK3qcvu+3BBBKD33q2r6Yrtm7rtyT9qmYspIpr4Ycku6yqAdlRbZYDq9GxjJDOUoivRLoMcggzjyXvIXtrALDzbqqEHAhWLswETIXwU6CD5z22gxFzCS0b3AERKsrXOW4AyT2Sqv+3yqxKzL57ZnGKltfsXhP2BlGpP0ly7ojv7QJd3Qv1e9WpFHu5Ym71ZHK3xj9Pjj2sO7qhrvCgePqjcUFmd3KrumK67rdvNzpfxmjwp7mI96k9yrHzHtru2OT+Pw5G5toTjZmqJTuuV+f7Lzb3Z2G/f2WUEUv/O49OfDeQnWZ3I65fTCbGZxKR7cACbwCVmezhwWsYI8SvxqEz9wjgstq61qJa3cSdW6Yk0KT0L79h9J15xt AAACpnichVFNS+NQFD3Gz6lf1W4G3JQpSp1FuRFBcSW6EQakrVOrVM0k8amPpklIXgu1+Af8Ay5mMYwgKC78B7OZzfyBWfgTxKWCm1nMbRoQFfWGvHfeefecdy/X8h0ZKqLrLq27p7evf+BDYnBoeGQ0OTa+Hnr1wBYl23O8YMMyQ+FIV5SUVI7Y8ANh1ixHlK3qcvu+3BBBKD33q2r6Yrtm7rtyT9qmYspIpr4Ycku6yqAdlRbZYDq9GxjJDOUoivRLoMcggzjyXvIXtrALDzbqqEHAhWLswETIXwU6CD5z22gxFzCS0b3AERKsrXOW4AyT2Sqv+3yqxKzL57ZnGKltfsXhP2BlGpP0ly7ojv7QJd3Qv1e9WpFHu5Ym71ZHK3xj9Pjj2sO7qhrvCgePqjcUFmd3KrumK67rdvNzpfxmjwp7mI96k9yrHzHtru2OT+Pw5G5toTjZmqJTuuV+f7Lzb3Z2G/f2WUEUv/O49OfDeQnWZ3I65fTCbGZxKR7cACbwCVmezhwWsYI8SvxqEz9wjgstq61qJa3cSdW6Yk0KT0L79h9J15xt AAACpnichVFNS+NQFD3Gz6lf1W4G3JQpSp1FuRFBcSW6EQakrVOrVM0k8amPpklIXgu1+Af8Ay5mMYwgKC78B7OZzfyBWfgTxKWCm1nMbRoQFfWGvHfeefecdy/X8h0ZKqLrLq27p7evf+BDYnBoeGQ0OTa+Hnr1wBYl23O8YMMyQ+FIV5SUVI7Y8ANh1ixHlK3qcvu+3BBBKD33q2r6Yrtm7rtyT9qmYspIpr4Ycku6yqAdlRbZYDq9GxjJDOUoivRLoMcggzjyXvIXtrALDzbqqEHAhWLswETIXwU6CD5z22gxFzCS0b3AERKsrXOW4AyT2Sqv+3yqxKzL57ZnGKltfsXhP2BlGpP0ly7ojv7QJd3Qv1e9WpFHu5Ym71ZHK3xj9Pjj2sO7qhrvCgePqjcUFmd3KrumK67rdvNzpfxmjwp7mI96k9yrHzHtru2OT+Pw5G5toTjZmqJTuuV+f7Lzb3Z2G/f2WUEUv/O49OfDeQnWZ3I65fTCbGZxKR7cACbwCVmezhwWsYI8SvxqEz9wjgstq61qJa3cSdW6Yk0KT0L79h9J15xt % Kd de(t) dt AAACp3ichVHLSsNAFD2Nr/quj4XgplgUdVEmIiiuim4EF9rWPqRKSdKphqZJSKYFDf0Bf8CFGxVcVBf+gRs3/oALP0FcKrhx4W0aEBX1hsycOXPPmXu5qm3ormDsMSR1dHZ194R7+/oHBoeGIyOjWdeqORrPaJZhOXlVcbmhmzwjdGHwvO1wpaoaPKdW1lr3uTp3XN0yt8Whzfeqyr6pl3VNEUQVI+MbxVJ0t+womlfis2Ku4ZVEoxiJsTjzI/oTyAGIIYgtK3KLXZRgQUMNVXCYEIQNKHDpK0AGg03cHjziHEK6f8/RQB9pa5TFKUMhtkLrPp0KAWvSueXp+mqNXjHod0gZxTR7YE32wu7ZNXti7796eb5Hq5ZD2tW2ltvF4eOJ9Nu/qirtAgefqj8UKmW3K3tkN1TX8858IfdnjwJlLPu96dSr7TOtrrW2T/3o5CW9kpr2ZtgFe6Z+z8n5jpzN+qt2meSpUxqX/H04P0F2IS6zuJxcjCVWg8GFMYkpzNJ0lpDAOraQoVePcIYmrqQ5aVPKSvl2qhQKNGP4EpLyAfEdnZo= AAACp3ichVHLSsNAFD2Nr/quj4XgplgUdVEmIiiuim4EF9rWPqRKSdKphqZJSKYFDf0Bf8CFGxVcVBf+gRs3/oALP0FcKrhx4W0aEBX1hsycOXPPmXu5qm3ormDsMSR1dHZ194R7+/oHBoeGIyOjWdeqORrPaJZhOXlVcbmhmzwjdGHwvO1wpaoaPKdW1lr3uTp3XN0yt8Whzfeqyr6pl3VNEUQVI+MbxVJ0t+womlfis2Ku4ZVEoxiJsTjzI/oTyAGIIYgtK3KLXZRgQUMNVXCYEIQNKHDpK0AGg03cHjziHEK6f8/RQB9pa5TFKUMhtkLrPp0KAWvSueXp+mqNXjHod0gZxTR7YE32wu7ZNXti7796eb5Hq5ZD2tW2ltvF4eOJ9Nu/qirtAgefqj8UKmW3K3tkN1TX8858IfdnjwJlLPu96dSr7TOtrrW2T/3o5CW9kpr2ZtgFe6Z+z8n5jpzN+qt2meSpUxqX/H04P0F2IS6zuJxcjCVWg8GFMYkpzNJ0lpDAOraQoVePcIYmrqQ5aVPKSvl2qhQKNGP4EpLyAfEdnZo= AAACp3ichVHLSsNAFD2Nr/quj4XgplgUdVEmIiiuim4EF9rWPqRKSdKphqZJSKYFDf0Bf8CFGxVcVBf+gRs3/oALP0FcKrhx4W0aEBX1hsycOXPPmXu5qm3ormDsMSR1dHZ194R7+/oHBoeGIyOjWdeqORrPaJZhOXlVcbmhmzwjdGHwvO1wpaoaPKdW1lr3uTp3XN0yt8Whzfeqyr6pl3VNEUQVI+MbxVJ0t+womlfis2Ku4ZVEoxiJsTjzI/oTyAGIIYgtK3KLXZRgQUMNVXCYEIQNKHDpK0AGg03cHjziHEK6f8/RQB9pa5TFKUMhtkLrPp0KAWvSueXp+mqNXjHod0gZxTR7YE32wu7ZNXti7796eb5Hq5ZD2tW2ltvF4eOJ9Nu/qirtAgefqj8UKmW3K3tkN1TX8858IfdnjwJlLPu96dSr7TOtrrW2T/3o5CW9kpr2ZtgFe6Z+z8n5jpzN+qt2meSpUxqX/H04P0F2IS6zuJxcjCVWg8GFMYkpzNJ0lpDAOraQoVePcIYmrqQ5aVPKSvl2qhQKNGP4EpLyAfEdnZo= AAACp3ichVHLSsNAFD2Nr/quj4XgplgUdVEmIiiuim4EF9rWPqRKSdKphqZJSKYFDf0Bf8CFGxVcVBf+gRs3/oALP0FcKrhx4W0aEBX1hsycOXPPmXu5qm3ormDsMSR1dHZ194R7+/oHBoeGIyOjWdeqORrPaJZhOXlVcbmhmzwjdGHwvO1wpaoaPKdW1lr3uTp3XN0yt8Whzfeqyr6pl3VNEUQVI+MbxVJ0t+womlfis2Ku4ZVEoxiJsTjzI/oTyAGIIYgtK3KLXZRgQUMNVXCYEIQNKHDpK0AGg03cHjziHEK6f8/RQB9pa5TFKUMhtkLrPp0KAWvSueXp+mqNXjHod0gZxTR7YE32wu7ZNXti7796eb5Hq5ZD2tW2ltvF4eOJ9Nu/qirtAgefqj8UKmW3K3tkN1TX8858IfdnjwJlLPu96dSr7TOtrrW2T/3o5CW9kpr2ZtgFe6Z+z8n5jpzN+qt2meSpUxqX/H04P0F2IS6zuJxcjCVWg8GFMYkpzNJ0lpDAOraQoVePcIYmrqQ5aVPKSvl2qhQKNGP4EpLyAfEdnZo= r AAACknichVG7SgNBFD1ZXzE+Eh+FYCMGRSzCrAiKVdTGwsIk5iFRZHcddchmd9mdBDT4A9oqFlYKFmLhH9jY+AMWfoKkjGBj4c1mQVTUu+zMmTP3nLmXqzum8CRjzyGlrb2jsyvcHenp7euPxgYGc55dcQ2eNWzTdgu65nFTWDwrhTR5wXG5VtZNntdLy837fJW7nrCtdXng8K2ytmeJXWFokqiUux2LswTzY+wnUAMQRxBrduwem9iBDQMVlMFhQRI2ocGjrwgVDA5xW6gR5xIS/j3HESKkrVAWpwyN2BKte3QqBqxF56an56sNesWk3yXlGCbYE7thDfbIbtkLe//Vq+Z7NGs5oF1vabmzHT0eybz9qyrTLrH/qfpDoVN2q7Jndkd11Temi/k/e5TYxbzfm6BeHZ9pdm20fKqH543MQnqiNsmuWJ36vSTnB3K2qq/GdYqnL2hc6vfh/AS5mYTKEmpqNp5cCgYXxijGMUXTmUMSK1hDll7lOMEpzpRhZUFZVJZbqUoo0AzhSyirH/1ElaE= AAACknichVG7SgNBFD1ZXzE+Eh+FYCMGRSzCrAiKVdTGwsIk5iFRZHcddchmd9mdBDT4A9oqFlYKFmLhH9jY+AMWfoKkjGBj4c1mQVTUu+zMmTP3nLmXqzum8CRjzyGlrb2jsyvcHenp7euPxgYGc55dcQ2eNWzTdgu65nFTWDwrhTR5wXG5VtZNntdLy837fJW7nrCtdXng8K2ytmeJXWFokqiUux2LswTzY+wnUAMQRxBrduwem9iBDQMVlMFhQRI2ocGjrwgVDA5xW6gR5xIS/j3HESKkrVAWpwyN2BKte3QqBqxF56an56sNesWk3yXlGCbYE7thDfbIbtkLe//Vq+Z7NGs5oF1vabmzHT0eybz9qyrTLrH/qfpDoVN2q7Jndkd11Temi/k/e5TYxbzfm6BeHZ9pdm20fKqH543MQnqiNsmuWJ36vSTnB3K2qq/GdYqnL2hc6vfh/AS5mYTKEmpqNp5cCgYXxijGMUXTmUMSK1hDll7lOMEpzpRhZUFZVJZbqUoo0AzhSyirH/1ElaE= AAACknichVG7SgNBFD1ZXzE+Eh+FYCMGRSzCrAiKVdTGwsIk5iFRZHcddchmd9mdBDT4A9oqFlYKFmLhH9jY+AMWfoKkjGBj4c1mQVTUu+zMmTP3nLmXqzum8CRjzyGlrb2jsyvcHenp7euPxgYGc55dcQ2eNWzTdgu65nFTWDwrhTR5wXG5VtZNntdLy837fJW7nrCtdXng8K2ytmeJXWFokqiUux2LswTzY+wnUAMQRxBrduwem9iBDQMVlMFhQRI2ocGjrwgVDA5xW6gR5xIS/j3HESKkrVAWpwyN2BKte3QqBqxF56an56sNesWk3yXlGCbYE7thDfbIbtkLe//Vq+Z7NGs5oF1vabmzHT0eybz9qyrTLrH/qfpDoVN2q7Jndkd11Temi/k/e5TYxbzfm6BeHZ9pdm20fKqH543MQnqiNsmuWJ36vSTnB3K2qq/GdYqnL2hc6vfh/AS5mYTKEmpqNp5cCgYXxijGMUXTmUMSK1hDll7lOMEpzpRhZUFZVJZbqUoo0AzhSyirH/1ElaE= AAACknichVG7SgNBFD1ZXzE+Eh+FYCMGRSzCrAiKVdTGwsIk5iFRZHcddchmd9mdBDT4A9oqFlYKFmLhH9jY+AMWfoKkjGBj4c1mQVTUu+zMmTP3nLmXqzum8CRjzyGlrb2jsyvcHenp7euPxgYGc55dcQ2eNWzTdgu65nFTWDwrhTR5wXG5VtZNntdLy837fJW7nrCtdXng8K2ytmeJXWFokqiUux2LswTzY+wnUAMQRxBrduwem9iBDQMVlMFhQRI2ocGjrwgVDA5xW6gR5xIS/j3HESKkrVAWpwyN2BKte3QqBqxF56an56sNesWk3yXlGCbYE7thDfbIbtkLe//Vq+Z7NGs5oF1vabmzHT0eybz9qyrTLrH/qfpDoVN2q7Jndkd11Temi/k/e5TYxbzfm6BeHZ9pdm20fKqH543MQnqiNsmuWJ36vSTnB3K2qq/GdYqnL2hc6vfh/AS5mYTKEmpqNp5cCgYXxijGMUXTmUMSK1hDll7lOMEpzpRhZUFZVJZbqUoo0AzhSyirH/1ElaE= e AAACknichVG7SgNBFD1Z3/EVH4VgIwZFLMKsCEoqNY2FRR7GKFFkdx11cLO77E4CMfgD2ioWVgoWYuEf2Nj4AxZ+glgq2Fh49wGiot5lZ86cuefMvVzdMYUnGXuMKU3NLa1t7R3xzq7unt5EX/+KZ1ddgxcN27TdVV3zuCksXpRCmnzVcblW0U1e0vcy/n2pxl1P2NayrDt8o6LtWGJbGJokKsc3E0mWYkGM/ARqBJKIImsnbrGOLdgwUEUFHBYkYRMaPPrKUMHgELeBBnEuIRHccxwgTtoqZXHK0Ijdo3WHTuWItejse3qB2qBXTPpdUo5gjD2wK/bC7tk1e2Lvv3o1Ag+/ljrteqjlzmbv4VDh7V9VhXaJ3U/VHwqdssPKHtkN1fW8Nlku/dmjxDZmg94E9eoEjN+1EfrU9k9fCun8WGOcXbBn6vecnO/I2aq9Gpc5nj+jcanfh/MTrEylVJZSc9PJuYVocO0YxigmaDozmMMisijSqxxHOMaJMqiklXklE6YqsUgzgC+hLH0A4O6VlA== AAACknichVG7SgNBFD1Z3/EVH4VgIwZFLMKsCEoqNY2FRR7GKFFkdx11cLO77E4CMfgD2ioWVgoWYuEf2Nj4AxZ+glgq2Fh49wGiot5lZ86cuefMvVzdMYUnGXuMKU3NLa1t7R3xzq7unt5EX/+KZ1ddgxcN27TdVV3zuCksXpRCmnzVcblW0U1e0vcy/n2pxl1P2NayrDt8o6LtWGJbGJokKsc3E0mWYkGM/ARqBJKIImsnbrGOLdgwUEUFHBYkYRMaPPrKUMHgELeBBnEuIRHccxwgTtoqZXHK0Ijdo3WHTuWItejse3qB2qBXTPpdUo5gjD2wK/bC7tk1e2Lvv3o1Ag+/ljrteqjlzmbv4VDh7V9VhXaJ3U/VHwqdssPKHtkN1fW8Nlku/dmjxDZmg94E9eoEjN+1EfrU9k9fCun8WGOcXbBn6vecnO/I2aq9Gpc5nj+jcanfh/MTrEylVJZSc9PJuYVocO0YxigmaDozmMMisijSqxxHOMaJMqiklXklE6YqsUgzgC+hLH0A4O6VlA== AAACknichVG7SgNBFD1Z3/EVH4VgIwZFLMKsCEoqNY2FRR7GKFFkdx11cLO77E4CMfgD2ioWVgoWYuEf2Nj4AxZ+glgq2Fh49wGiot5lZ86cuefMvVzdMYUnGXuMKU3NLa1t7R3xzq7unt5EX/+KZ1ddgxcN27TdVV3zuCksXpRCmnzVcblW0U1e0vcy/n2pxl1P2NayrDt8o6LtWGJbGJokKsc3E0mWYkGM/ARqBJKIImsnbrGOLdgwUEUFHBYkYRMaPPrKUMHgELeBBnEuIRHccxwgTtoqZXHK0Ijdo3WHTuWItejse3qB2qBXTPpdUo5gjD2wK/bC7tk1e2Lvv3o1Ag+/ljrteqjlzmbv4VDh7V9VhXaJ3U/VHwqdssPKHtkN1fW8Nlku/dmjxDZmg94E9eoEjN+1EfrU9k9fCun8WGOcXbBn6vecnO/I2aq9Gpc5nj+jcanfh/MTrEylVJZSc9PJuYVocO0YxigmaDozmMMisijSqxxHOMaJMqiklXklE6YqsUgzgC+hLH0A4O6VlA== AAACknichVG7SgNBFD1Z3/EVH4VgIwZFLMKsCEoqNY2FRR7GKFFkdx11cLO77E4CMfgD2ioWVgoWYuEf2Nj4AxZ+glgq2Fh49wGiot5lZ86cuefMvVzdMYUnGXuMKU3NLa1t7R3xzq7unt5EX/+KZ1ddgxcN27TdVV3zuCksXpRCmnzVcblW0U1e0vcy/n2pxl1P2NayrDt8o6LtWGJbGJokKsc3E0mWYkGM/ARqBJKIImsnbrGOLdgwUEUFHBYkYRMaPPrKUMHgELeBBnEuIRHccxwgTtoqZXHK0Ijdo3WHTuWItejse3qB2qBXTPpdUo5gjD2wK/bC7tk1e2Lvv3o1Ag+/ljrteqjlzmbv4VDh7V9VhXaJ3U/VHwqdssPKHtkN1fW8Nlku/dmjxDZmg94E9eoEjN+1EfrU9k9fCun8WGOcXbBn6vecnO/I2aq9Gpc5nj+jcanfh/MTrEylVJZSc9PJuYVocO0YxigmaDozmMMisijSqxxHOMaJMqiklXklE6YqsUgzgC+hLH0A4O6VlA== 4ZTUFN 'FFECBDLQBUI *OQVU 0VUQVU

Slide 37

Slide 37 text

37 Dynamic Target Controller &SSPS 4FUQPJOU 1 * % r AAACknichVG7SgNBFD1ZXzE+Eh+FYCMGRSzCrAiKVdTGwsIk5iFRZHcddchmd9mdBDT4A9oqFlYKFmLhH9jY+AMWfoKkjGBj4c1mQVTUu+zMmTP3nLmXqzum8CRjzyGlrb2jsyvcHenp7euPxgYGc55dcQ2eNWzTdgu65nFTWDwrhTR5wXG5VtZNntdLy837fJW7nrCtdXng8K2ytmeJXWFokqiUux2LswTzY+wnUAMQRxBrduwem9iBDQMVlMFhQRI2ocGjrwgVDA5xW6gR5xIS/j3HESKkrVAWpwyN2BKte3QqBqxF56an56sNesWk3yXlGCbYE7thDfbIbtkLe//Vq+Z7NGs5oF1vabmzHT0eybz9qyrTLrH/qfpDoVN2q7Jndkd11Temi/k/e5TYxbzfm6BeHZ9pdm20fKqH543MQnqiNsmuWJ36vSTnB3K2qq/GdYqnL2hc6vfh/AS5mYTKEmpqNp5cCgYXxijGMUXTmUMSK1hDll7lOMEpzpRhZUFZVJZbqUoo0AzhSyirH/1ElaE= AAACknichVG7SgNBFD1ZXzE+Eh+FYCMGRSzCrAiKVdTGwsIk5iFRZHcddchmd9mdBDT4A9oqFlYKFmLhH9jY+AMWfoKkjGBj4c1mQVTUu+zMmTP3nLmXqzum8CRjzyGlrb2jsyvcHenp7euPxgYGc55dcQ2eNWzTdgu65nFTWDwrhTR5wXG5VtZNntdLy837fJW7nrCtdXng8K2ytmeJXWFokqiUux2LswTzY+wnUAMQRxBrduwem9iBDQMVlMFhQRI2ocGjrwgVDA5xW6gR5xIS/j3HESKkrVAWpwyN2BKte3QqBqxF56an56sNesWk3yXlGCbYE7thDfbIbtkLe//Vq+Z7NGs5oF1vabmzHT0eybz9qyrTLrH/qfpDoVN2q7Jndkd11Temi/k/e5TYxbzfm6BeHZ9pdm20fKqH543MQnqiNsmuWJ36vSTnB3K2qq/GdYqnL2hc6vfh/AS5mYTKEmpqNp5cCgYXxijGMUXTmUMSK1hDll7lOMEpzpRhZUFZVJZbqUoo0AzhSyirH/1ElaE= AAACknichVG7SgNBFD1ZXzE+Eh+FYCMGRSzCrAiKVdTGwsIk5iFRZHcddchmd9mdBDT4A9oqFlYKFmLhH9jY+AMWfoKkjGBj4c1mQVTUu+zMmTP3nLmXqzum8CRjzyGlrb2jsyvcHenp7euPxgYGc55dcQ2eNWzTdgu65nFTWDwrhTR5wXG5VtZNntdLy837fJW7nrCtdXng8K2ytmeJXWFokqiUux2LswTzY+wnUAMQRxBrduwem9iBDQMVlMFhQRI2ocGjrwgVDA5xW6gR5xIS/j3HESKkrVAWpwyN2BKte3QqBqxF56an56sNesWk3yXlGCbYE7thDfbIbtkLe//Vq+Z7NGs5oF1vabmzHT0eybz9qyrTLrH/qfpDoVN2q7Jndkd11Temi/k/e5TYxbzfm6BeHZ9pdm20fKqH543MQnqiNsmuWJ36vSTnB3K2qq/GdYqnL2hc6vfh/AS5mYTKEmpqNp5cCgYXxijGMUXTmUMSK1hDll7lOMEpzpRhZUFZVJZbqUoo0AzhSyirH/1ElaE= AAACknichVG7SgNBFD1ZXzE+Eh+FYCMGRSzCrAiKVdTGwsIk5iFRZHcddchmd9mdBDT4A9oqFlYKFmLhH9jY+AMWfoKkjGBj4c1mQVTUu+zMmTP3nLmXqzum8CRjzyGlrb2jsyvcHenp7euPxgYGc55dcQ2eNWzTdgu65nFTWDwrhTR5wXG5VtZNntdLy837fJW7nrCtdXng8K2ytmeJXWFokqiUux2LswTzY+wnUAMQRxBrduwem9iBDQMVlMFhQRI2ocGjrwgVDA5xW6gR5xIS/j3HESKkrVAWpwyN2BKte3QqBqxF56an56sNesWk3yXlGCbYE7thDfbIbtkLe//Vq+Z7NGs5oF1vabmzHT0eybz9qyrTLrH/qfpDoVN2q7Jndkd11Temi/k/e5TYxbzfm6BeHZ9pdm20fKqH543MQnqiNsmuWJ36vSTnB3K2qq/GdYqnL2hc6vfh/AS5mYTKEmpqNp5cCgYXxijGMUXTmUMSK1hDll7lOMEpzpRhZUFZVJZbqUoo0AzhSyirH/1ElaE= e AAACknichVG7SgNBFD1Z3/EVH4VgIwZFLMKsCEoqNY2FRR7GKFFkdx11cLO77E4CMfgD2ioWVgoWYuEf2Nj4AxZ+glgq2Fh49wGiot5lZ86cuefMvVzdMYUnGXuMKU3NLa1t7R3xzq7unt5EX/+KZ1ddgxcN27TdVV3zuCksXpRCmnzVcblW0U1e0vcy/n2pxl1P2NayrDt8o6LtWGJbGJokKsc3E0mWYkGM/ARqBJKIImsnbrGOLdgwUEUFHBYkYRMaPPrKUMHgELeBBnEuIRHccxwgTtoqZXHK0Ijdo3WHTuWItejse3qB2qBXTPpdUo5gjD2wK/bC7tk1e2Lvv3o1Ag+/ljrteqjlzmbv4VDh7V9VhXaJ3U/VHwqdssPKHtkN1fW8Nlku/dmjxDZmg94E9eoEjN+1EfrU9k9fCun8WGOcXbBn6vecnO/I2aq9Gpc5nj+jcanfh/MTrEylVJZSc9PJuYVocO0YxigmaDozmMMisijSqxxHOMaJMqiklXklE6YqsUgzgC+hLH0A4O6VlA== AAACknichVG7SgNBFD1Z3/EVH4VgIwZFLMKsCEoqNY2FRR7GKFFkdx11cLO77E4CMfgD2ioWVgoWYuEf2Nj4AxZ+glgq2Fh49wGiot5lZ86cuefMvVzdMYUnGXuMKU3NLa1t7R3xzq7unt5EX/+KZ1ddgxcN27TdVV3zuCksXpRCmnzVcblW0U1e0vcy/n2pxl1P2NayrDt8o6LtWGJbGJokKsc3E0mWYkGM/ARqBJKIImsnbrGOLdgwUEUFHBYkYRMaPPrKUMHgELeBBnEuIRHccxwgTtoqZXHK0Ijdo3WHTuWItejse3qB2qBXTPpdUo5gjD2wK/bC7tk1e2Lvv3o1Ag+/ljrteqjlzmbv4VDh7V9VhXaJ3U/VHwqdssPKHtkN1fW8Nlku/dmjxDZmg94E9eoEjN+1EfrU9k9fCun8WGOcXbBn6vecnO/I2aq9Gpc5nj+jcanfh/MTrEylVJZSc9PJuYVocO0YxigmaDozmMMisijSqxxHOMaJMqiklXklE6YqsUgzgC+hLH0A4O6VlA== AAACknichVG7SgNBFD1Z3/EVH4VgIwZFLMKsCEoqNY2FRR7GKFFkdx11cLO77E4CMfgD2ioWVgoWYuEf2Nj4AxZ+glgq2Fh49wGiot5lZ86cuefMvVzdMYUnGXuMKU3NLa1t7R3xzq7unt5EX/+KZ1ddgxcN27TdVV3zuCksXpRCmnzVcblW0U1e0vcy/n2pxl1P2NayrDt8o6LtWGJbGJokKsc3E0mWYkGM/ARqBJKIImsnbrGOLdgwUEUFHBYkYRMaPPrKUMHgELeBBnEuIRHccxwgTtoqZXHK0Ijdo3WHTuWItejse3qB2qBXTPpdUo5gjD2wK/bC7tk1e2Lvv3o1Ag+/ljrteqjlzmbv4VDh7V9VhXaJ3U/VHwqdssPKHtkN1fW8Nlku/dmjxDZmg94E9eoEjN+1EfrU9k9fCun8WGOcXbBn6vecnO/I2aq9Gpc5nj+jcanfh/MTrEylVJZSc9PJuYVocO0YxigmaDozmMMisijSqxxHOMaJMqiklXklE6YqsUgzgC+hLH0A4O6VlA== AAACknichVG7SgNBFD1Z3/EVH4VgIwZFLMKsCEoqNY2FRR7GKFFkdx11cLO77E4CMfgD2ioWVgoWYuEf2Nj4AxZ+glgq2Fh49wGiot5lZ86cuefMvVzdMYUnGXuMKU3NLa1t7R3xzq7unt5EX/+KZ1ddgxcN27TdVV3zuCksXpRCmnzVcblW0U1e0vcy/n2pxl1P2NayrDt8o6LtWGJbGJokKsc3E0mWYkGM/ARqBJKIImsnbrGOLdgwUEUFHBYkYRMaPPrKUMHgELeBBnEuIRHccxwgTtoqZXHK0Ijdo3WHTuWItejse3qB2qBXTPpdUo5gjD2wK/bC7tk1e2Lvv3o1Ag+/ljrteqjlzmbv4VDh7V9VhXaJ3U/VHwqdssPKHtkN1fW8Nlku/dmjxDZmg94E9eoEjN+1EfrU9k9fCun8WGOcXbBn6vecnO/I2aq9Gpc5nj+jcanfh/MTrEylVJZSc9PJuYVocO0YxigmaDozmMMisijSqxxHOMaJMqiklXklE6YqsUgzgC+hLH0A4O6VlA== (PBQQ 'FFECBDLQBUI 4FNBQIPSF $166TBHF $IBOHFSBUF • Having two nested control loops to change set-point on running. • The outer loop sets new set-points of the inner loop when CPU usage reaches the upper limit. $POUSPMMFS

Slide 38

Slide 38 text

Bounding

Slide 39

Slide 39 text

Bounding concurrency using buffered channel as semaphore 39 To bound concurrency in Go func main() { var wg sync.WaitGroup sem := make(chan struct{}, 3) for i := 0; i < 10; i++ { wg.Add(1) sem <- struct{}{} go func() { defer wg.Done() defer func() { <-sem }() task() }() } wg.Wait() close(sem) }

Slide 40

Slide 40 text

40 Elastic semaphore DIBO &MBTUJDTFNBQIPSF $PVOUFS XBJU TJHOBM JODSFNFOU-JNJU $PVOUFS $PVOUFS 8BJUJOH /PUXBJUJOH • wait() & signal() as same as semaphore • incrementLimit() changes upper of semaphore variable • Ensure atomicity of above operations

Slide 41

Slide 41 text

Kaburaya

Slide 42

Slide 42 text

Architecture of kaburaya 42 • The optimal number of concurrency to be determined dynamically and be controlled rapidly • Use CPU usage upper limit as performance metrics. • Use feedback control to determine the number of goroutines continuosly. • Use elastic semaphore to bound concurrency. • Kaburaya is “ధ໼” which is a Japanese arrow with a whistle. • https://github.com/monochromegane/kaburaya

Slide 43

Slide 43 text

• Kaburaya optimizes the number of goroutines by feedback control. 43 monochromegane/kaburaya func main() { sem := kaburaya.NewSem(100 * time.Millisecond) var wg sync.WaitGroup for i := 0; i < 10; i++ { wg.Add(1) sem.Wait() go func() { defer sem.Signal() defer wg.Done() task() }() } wg.Wait() sem.Stop() } Create semaphore and specify time span for update the semaphore and CPU target. Wait for decrement operation. Increment operation. Stop update the semaphore and CPU target.

Slide 44

Slide 44 text

4. Evaluation

Slide 45

Slide 45 text

• Apply kaburaya to some tasks to evaluate efficacy. • Measure speedup, CPU usage, and limit of semaphore. • Find good and not so good cases for the kaburaya controller. 45 Evaluation

Slide 46

Slide 46 text

Task: pt_mac-scan 46 • pt runs on macOS with realtime virus scan • CPU 8, Memory 16GB • GOMAXPROCS=8 • Better concurrent are from 16 to 64. • More degradation of performance due to increased goroutines.

Slide 47

Slide 47 text

Task: pt_mac-scan (Good) 47 • Kaburaya found good set points and adjust numbers within ideal range. Duration: 50ms, Gain: 0.1, Change rate: ±0.3 Median

Slide 48

Slide 48 text

Task: pt_mac-no-scan 48 • Runs pt on Mac without realtime virus scan • CPU 8, Memory 16GB • GOMAXPROCS=8 • Better concurrent is 4 • Less degradation of performance due to increased goroutines.

Slide 49

Slide 49 text

Task: pt_mac-no-scan (Good) 49 • Kaburaya found good set points and adjust numbers within ideal range. Duration: 50ms, Gain: 0.1, Change rate: ±0.3 Median

Slide 50

Slide 50 text

Task: pt_mac-no-scan (Bad) 50 • Find set points and adjust numbers within ideal range. • Increase the number due to failure to reset the set point at end of period. Duration: 50ms, Gain: 0.1, Change rate: ±0.3 Median

Slide 51

Slide 51 text

Task: pt_linux 51 • pt runs on Linux • CPU 4, Memory 4GB • GOMAXPROCS=4 • Better concurrent are from 4 to 32. • Less degradation of performance due to increased goroutines.

Slide 52

Slide 52 text

Task: pt_linux (Not so bad) 52 • Kaburaya found good set points and adjust numbers within ideal range. • Increase the number due to failure to reset the set point at end of period. Duration: 50ms, Gain: 0.1, Change rate: ±0.3 Median

Slide 53

Slide 53 text

Task: mem_4096000_10000 53 • Runs task uses memory. • 4MB/task x 10,000 • CPU 4, Memory 4GB • GOMAXPROCS=4 • Better concurrent is 512. • More degradation of performance (Swap out) due to increased goroutines.

Slide 54

Slide 54 text

Task: mem_4096000_10000 (Good) 54 • Kaburaya found set points and adjust numbers within ideal range. • Avoid starvation of resource Duration: 500ms, Gain: 0.3, Change rate: ±0.3 Median

Slide 55

Slide 55 text

Task: mem_40960_1000000 55 • Runs task uses memory. • 40kB/task x 1,000,000 • CPU 4, Memory 4GB • GOMAXPROCS=4 • Better concurrent are from 4 to 64. • Less degradation of performance due to increased goroutines.

Slide 56

Slide 56 text

Task: mem_40960_1000000 (Good) 56 • Kaburaya found set points and adjust numbers within ideal range. Duration: 500ms, Gain: 0.3, Change rate: ±0.3 Median

Slide 57

Slide 57 text

Task: mem_409600_100000 57 • Runs task uses memory. • 400kB/task x 100,000 • CPU 4, Memory 4GB • GOMAXPROCS=4 • Better concurrent is over 1024? • Less degradation of performance due to increased goroutines.

Slide 58

Slide 58 text

Task: mem_409600_100000 (Not so good) 58 • Kaburaya found set points and adjust numbers. • Does not reach the limit of performance metrics… Duration: 500ms, Gain: 0.3, Change rate: ±0.3 Median

Slide 59

Slide 59 text

• Kaburaya finds set point and adjusts numbers within ideal range by feedback control and elastic semaphore. • Towards to improve the controller • prediction accuracy of set point • Optimal parameters (K{p,i,d} and range of change rate) • Solve them in the related researches about feedback control as the next step. 59 Experimental results

Slide 60

Slide 60 text

5. Conclusion

Slide 61

Slide 61 text

Conclusion 61 • I proposed kaburaya to control the number of goroutines without depending on platform, runtime and current load. • Experimental results show possible and some issues of kaburaya. • In particular improvement detecting performance upper limit of task is important. • In the future, I will also consider the application to auto-scaling of cloud computing. • Go

Slide 62

Slide 62 text

Appendix

Slide 63

Slide 63 text

• Implementation of Kaburaya • https://github.com/monochromegane/kaburaya • Study of Kaburaya (In Japanese) • https://blog.monochromegane.com/blog/2018/11/25/wsa_3_kaburaya/ • https://gist.github.com/monochromegane/5e9fc94371a9b2385eedd38d98341e6b • https://blog.monochromegane.com/blog/2019/04/14/wsa_4_ebira/ • Learn more goroutine • https://speakerdeck.com/monochromegane/road-to-your-goroutines 63 Reference

Slide 64

Slide 64 text

64 Go gopher • The Go gopher was designed by Renee French. • The gopher illustrations were drawn by Keita Kawamoto. • Licensed under the Creative Commons 3.0 Attributions license.

Slide 65

Slide 65 text

Thank you!

Slide 66

Slide 66 text

No content