Abstract
The Real-time Control System (RCS) is an intelligent systems architecture that integrates continuous and discrete control concepts in a hierarchically layered net of hybrid control nodes, In each node, wscreteevents sequence tasks anda feedback loop is closed at a cycle rate much faster than the dynamics of the process being controlled. At successively lower levels in the hierarchy, the rate of events and the feedhack loop bandwidth increases by about an order of magnitude per level. RCS has been used in designing a numher of hyhrid control applications, most recently a four-axis machining center at the General Motors Powertrain plant in Pontiac, Michigan.
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