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assume binding problem Computer Engineering consider constraints Control convex corresponding cost cycle deadline defined Department of Electrical Design Automation Conference Electrical and Computer equations example execution exponential families Figure floorplanning follows graphs grid heuristic high-level synthesis homogeneous architecture IEEE IEEE Transactions initiation interval interconnect interior point methods Lemma linear load power margin loop expansion loop folding loop unrolling lower bound matrix maximal uncertainty magnitude module multi-armed bandit multigrid method multiplexer nested loop node nominal plant non-real-time messages nonconservative weighting function number of copies number of processors obtained operations optimal parallelism parameter partitioning performance Phasor plant family power system Proof real-time messages reduce right half plane robust stabilization problem robust stabilizer exists scheduling score spaces SDES Section solution solving sparse matrix stable polynomial station synchronous task Theorem time-step transformation transmit TTRT uncertain University of Wisconsin-Madison vector weighting function WLAV zero