在基于固定优先级调度实时控制系统中，任务的延迟与抖动是影响系统稳定性的重要因素。
In real-time control systems based on fixed priority scheduling, the latency and jitter of task are important factors which will impact the stability of the system.
对象和逆控制器各用一个抽头延迟线滤波器表示，用抖动方法给对象建模；
Plant and inverse controller are expressed by a tapped delay line filter respectively.
在典型业务强度下，平均延迟和延迟抖动实时性指标较传统TCP控制方法提升90%。
The average delay and delay jitter performance in new heuristc increases 90% than original TCP.
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