Abstract
When we design control systems, a computer-aided design (CAD) system is very useful for adjusting design parameters and repeated simulations. Especially in the case of multi-input multi-output (MIMO) systems, the tool is indispensable because it is otherwise complicated to analyze controlled objects and design controllers. In this study, we developed a CAD system which can create real objects and instruments in a computer virtual area by using an object-oriented language. In particular, our proposed system has schemes for both system analysis and parameter estimation for the design of MIMO adaptive control systems. In addition, a friendly man-machine interface is realized. To discuss the usefulness of this CAD system, we apply it to the control system of a robot manipulator. This CAD system is shown to be very useful for researching and developing adaptive control systems.
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