Bare-Metal vs RTOS for advanced control systems - Cyclone V SX

Dear community,

I’m fairly new to the SoC-World and I have a few things I would like to discuss with you guys.

I have to design a board with the new Cyclone V SXF SoC system for my company. We mostly want to run control algorithms on the FPGA, with the more advanced ones (e.g. model predictive control) being assisted by the HPS.

Seeing as real-time is a must, we thought the best way to achieve this integration of the HPS in the control system was by configuring the FPGA to our needs and then making the FPGA run Bare-Metal-Applications on the HPS unit.

However, while searching through this forum I learned that Bare-Metal-Applications are actually not recommended, as they do not exploit the full potential of the Cortex-A Class processors, especially given the dual core version of the Cyclone V SXF.

So my question is: Would a Real-Time-Operating-System (RTOS) be more suitable for our application? If yes, why, and which one in particular?

Many thanks,

X Claudia