Adaptive QoS Control Beyond Embedded Systems
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1 Adaptive QoS Control Beyond Embedded Systems Chenyang Lu! CSE 520S!
2 Outline! Control-theoretic Framework! Service delay control on Web servers! On-line data migration in storage servers! ControlWare: adaptive QoS control middleware for Internet servers 2"
3 QoS in Unpredictable Environments Absolute Guarantees 10 sec stock trade guarantee!! #user???! request rate???! resource requirement???! Internet! 3"
4 QoS in Unpredictable Environments Relative Guarantees Delay contract! Premium : Basic = 1 : 3! #user???! request rate???! resource requirement???! " Web hosting: paid sites vs. free sites! " E-business: VIPs vs. others! 4"
5 State of the Art! Non-adaptive resource allocation " Over-provisioning # high cost! Queuing theory " Capacity planning based on offline prediction " Dependence on known arrival process! Adaptation heuristics " Lack of analysis " Laborious design/tuning/testing iterations! Feedback control theory " Mathematical analysis & design of adaptive systems 5"
6 Feedback Control Theory! Robust against modeling errors and variations! Success in mechanical/electrical systems! How to apply feedback control theory to QoS in computing systems? 6"
7 Challenges 1. QoS Mapping: How to map QoS to software feedback control loops? 2. Modeling: How to establish dynamic models for computing systems? 3. Design & Implementation: How to build practical QoS architectures? 7"
8 Feedback Control Loop Software Feedback Control Loop! Computing! System! Controller! control! input! Actuator! change! Manipulated! variable! + error! - Monitor! sample! Controlled! variable! Reference! 8"
9 Feedback Control Loop Software Feedback Control Loop! Computing! System! Controller! control! input! Actuator! change! Manipulated! variable! (#servers)! + error! - Monitor! sample! Controlled! variable! (delay)! Reference! (5 sec)! 9"
10 Dynamic Response Controlled! variable! Reference!!!!!!! Settling time! Stability! Transient State! Steady state error! Steady State! Time! 10"
11 Control-theoretic QoS Framework guarantee! QoS Guarantee! QoS Control Software! QoS Mapping! Control Loop! Architecture! Controllers! System Identification! Dynamic! Response! Specs! Dynamic! Model! Controller Design! 11"
12 Outline! Control-theoretic Framework! Service delay control on Web servers! On-line data migration in storage servers! ControlWare: Adaptive QoS control middleware 12"
13 Web Servers Relative Delay Guarantee Delay contract! Premium : Basic = 1 : 3! #user???! arrival rate???! resource requirement???!! Enforce delay ratio between service classes on Web servers 13"
14 Challenges 1. QoS Mapping: How to map QoS to software feedback control loops? " Identify control variables " Design control loop structures 2. Modeling: How to establish dynamic models for computing systems? 3. Architecture: How to build practical QoS architectures? 14"
15 Web servers HTTP Protocols TCP connection HTTP request! Apache server " Multi-process architecture " Study focused on HTTP 1.1 protocol User A User A server server server server HTTP1.0 HTTP1.1 15"
16 Web servers HTTP Protocols HTTP Request User A User B User A User B server server server server HTTP1.0 HTTP1.1 16"
17 Web servers HTTP Protocols User A User B User A User B server server server server HTTP1.0 HTTP1.1 17"
18 Web servers HTTP Protocols HTTP Request TCP Connection Request User A User B User C User A User B User C server server server server Connection delay in TCP listen queue! HTTP1.0 HTTP1.1 18"
19 HTTP 1.1 Protocol connection delay processing delay processing delay Time TCP connection Request Start 1 st HTTP request Finish 1 st HTTP request Start 2 nd HTTP request Finish 2 nd HTTP request! Focus of this work: connection delay. 19"
20 Apache HTTP 1.1 Server Control Variables! Controlled variable: (connection) delay ratio D 1 (k)/d 0 (k)! Manipulated variable: (process) budget ratio B 0 (k)/b 1 (k) A! B! New users! processing delay network delay! server! TCP listen queue! connection delay!! server! TCP Connection Request! 20"
21 QoS Mapping Relative delay for two classes Controller! B 1 (k+1)/b 0 (k+1)! budget ratio! Actuator! Apache! error! + - W 0 /W 1! desired delay ratio! Monitor! D 0 (k)/d 1 (k)! delay ratio! 21"
22 QoS Mapping Relative delay for two classes (cont.) W 1 : W 0 W 1 /W 0 TCP conn req! listen queue! HTTP requests/responses! Controller 0! B 0 /B 1! Connection! Scheduler! D Monitor! 1 /D 0! Server! Server! 22"
23 QoS Mapping Relative delay for three classes W 0 : W 1 : W 2! W 2 /W 1! W 1 /W 0! TCP conn req! listen queue! Controller 1! B 1 /B 2! Controller 0! B 0 /B 1! Connection! Scheduler! D 2 /D 1! Monitor! D 1 /D 0! Server! Server! HTTP requests/responses! 23"
24 Challenges 1. QoS Mapping: How to map QoS to software feedback control loops? 2. Modeling: How to establish dynamic models for computing systems? 3. Architecture: How to build practical QoS architectures? 24"
25 Modeling Computing Systems! Servers are dynamic systems " Current output depends on history " Queuing delays! Difference equation V ( k) = n j= 1 a V ( k j j) + j= 1 " V(k): controlled variable in k th sampling period " U(k): manipulated variable in k th sampling period " Order n: #sampling-period that affects current performance n b U( k j j) 25"
26 Web Server System Identification V ( k) = n j= 1 a V ( k j j) + n j= 1 b U( k j j) {a j, b j }! white! noise! B 0 (k)/b 1 (k)! B 0 (k)/b 1 (k)! Least! Squares! Estimator! D 0 (k)/d 1 (k)! monitor! TCP connection requests! listen queue! HTTP requests/responses! connection! scheduler! Server! Server! 26"
27 Web Server Estimation of model parameters 1.5 Estimation! estimate Time (s) a1 a2 b1 b2 " V(k) = 0.74V(k-1) V(k-2) U(k-1) 0.12U(k-2)! " Delay ratio: V(k) = D 0 (k)/d 1 (k)! " Budget ratio: U(k) = D 0 (k)/d 1 (k)! 27"
28 Web Server Experimental Validation of the Model Delay Ratio! ratio Time (s) Apache Model prediction " 2 nd order difference equation is sufficient for Apache!! 28"
29 Web Server Controller design 1 Imaginary Axis! -1-1 Real Axis! 1 Root Locus " PI Control! U ( k) = K k ( E " Root-Locus Method! P k j= 0 " Designed dynamic response! " Stability! " Steady state error: 0! " Settling time: 4.5 min! k ( k) + K I E k ( j)) Closed Loop Poles 29"
30 Challenges 1. QoS Mapping: How to map QoS to software feedback control loops? 2. Modeling: How to establish dynamic models for computing systems? 3. Architecture: How to build practical QoS architectures? 30"
31 Web Server Implementation server! server! TCP socket! Unix domain socket! TCP listen queue! TCP listen queue! server! server! monitor/controller! accept! classify! scheduler! Connection Manager! Apache! Modified Apache! server! server! server! server! 31"
32 Web Server Experimental setup! Baseline for comparison " Fixed allocation of server processes between service classes " Fine-tuned for nominal workload! Workload " Nominal: 100 premium & 200 basic users " Change #users at run-time " Realistic workload generated by SURGE 32"
33 Web Server: Evaluation Results #premium100#200! designed settling time! 4 Delay Ratio! (Basic/Premium)! Time (s) Feeback Control Baseline Reference 33"
34 Summary: Web Server Meeting the challenges 1. QoS mapping " Relative delay guarantees # feedback control loops 2. Modeling " Estimate difference equation models using system identification " Second-order difference equation model is sufficient for Apache 3. Architecture " QoS architecture on Apache " Relative delay guarantees despite variations in user populations 34"
35 Reference! C. Lu, Y. Lu, T.F. Abdelzaher, J.A. Stankovic and S.H. Son, Feedback Control Architecture and Design Methodology for Service Delay Guarantees in Web Servers, IEEE Transactions on Parallel and Distributed Systems, 17(9): , September 2006.! 35"
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