How do I run parallel dependent loops?

I have a simulation that has two parts. A control loop and an identification loop. The control loop runs at a high sampling rate. The identification loop is computationally intensive. The information generated by the identification loop is helpful but not necessary for the control loop to run.

Ideally, I would like to have a simulation where the identification loop sends information to the control loop whenever its done computing. The control loop uses whichever latest identification information it has.

Is there a way I can do this?

[José-Luis]

What does your code look like? Could you give an example? How do you intend to perform parallelization of the tasks?

[Rushikesh Kamalapurkar]

Here is a small example

First task (control loop)

[x_dot, theta_dot] = function1(x,theta,c)
% code to compute the derivatives x_dot and theta_dot

Second task

 c=function2(x,theta)
%computationally intensive function to compute c

Now, the first function is implemented in a simulink block. The outputs x_dot, theta_dot pass through integration blocks and back to the inputs x and theta. This block runs every 1/1000th second.

The second function is also a simulink block that accepts x and theta as inputs and computes 'c'.

What I want is for function1 to use the currently available value of 'c' till function2 is executed, and then switch over to the new value when available.

I have made function2 into a subsystem and am running it at a lower rate but that is not the ideal solution.

Answer 1

[Walter Roberson]

If you were to use smpd then you could use labsend() to send values from the identification worker to the control worker.

The traditional structure would be to construct the control loop as a BytesAvailableFcn callback or timer callback (as appropriate) that would interrupt the main computation as necessary, and would draw upon the current values of variables stored by the identification loop. You would, I figure, need at least two buffers of the variables, one being read from and one being written to.

[Rushikesh Kamalapurkar]

I do not know many of the programs you mentioned. I will do my research and report back in a few days. Thank you for your answer.