Hardware-in-the-loop environment for control systems evaluation under Linux/RTAI

Authors:
Luis Garcia;Manuel J. Lopez;Jose Lorenzo
Affiliations:
Dpto. Ingeniería de Sistemas y Automática, Universidad de Cádiz, Spain;Dpto. Ingeniería de Sistemas y Automática, Universidad de Cádiz, Spain;Dpto. Ingeniería de Sistemas y Automática, Universidad de Cádiz, Spain
Venue:
ACS'06 Proceedings of the 6th WSEAS international conference on Applied computer science
Year:
2006

Citing 6
Cited 1

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Robust industrial control: optimal design approach for polynomial systems
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Design methodology based on H∞ control theory for marine propulsion system with bumpless transfer function

WSEAS TRANSACTIONS on SYSTEMS

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Abstract

In this paper we propose a general purpose hardware/software environment for hard real time simulation of dynamical systems in the context of control engineering. With this system, realistic analysis and tests can be carried out for controller algorithms characterized by time determinism with strict restrictions, multiple inputs and multiple outputs and based on robust control theory. A hard real time system for plants simulation, controller implementation and testing (EPESC) has been developed, which is based on Real Time Linux (Linux-RTAI) and COMEDI project. The complete system provides a flexible and scalable environment for controller design, implementation and evaluation with hard real time restrictions. EPESC system has been developed by open-source software. The increasing prominence of open-source software is an important trend that has many positive benefits for scientific community.