Container-based Virtualization for Real-time Industrial Systems-A Systematic Review

Industrial Automation and Control systems have matured into a stable infrastructure model that has been kept fundamentally unchanged, using discrete embedded systems (such as Programmable Logic Controllers) to implement the first line of sensorization, actuation, and process control and stations and servers providing monitoring, supervision, logging/database and data-sharing capabilities, among others. More recently, with the emergence of the Industry 4.0 paradigm and the need for more flexibility, there has been a steady trend towards virtualizing some of the automation station/server components, first by using virtual machines and, more recently, by using container technology. This trend is pushing for better support for real-time requirements on enabling virtualization technologies such as virtual machines and containers. This article provides a systematic review on the use of container virtualization in real-time environments such as cyber-physical systems, assessing how existing and emerging technologies can fulfill the associated requirements. Starting by reviewing fundamental concepts related to container technology and real-time requirements, it goes on to present the methodology and results of a systematic study of 37 selected papers covering aspects related to the enforcement of real-time constrains within container hosts and the expected task latency on such environments, as well as an overview of container platforms and orchestration mechanisms for RT systems.