State space design cycle and hardware in the loop testing and verification

Abstract

Advances in real-time hardware in the loop (HIL) boards and software has provided an excellent opportunity to implement and test control algorithms rapidly on real systems [1-7]. Hardware in the loop development allows for rapid development, testing and verification of control systems. This paper, using a servo system as an example, clearly explores modern control systems design cycle, which includes real-time verification of the controller. This methodology illustrates design cycle from system specification, system constraints to controller design, HIL testing and verification of the developed controller. This rapid prototyping strategy to develop and test controllers can be used in industry as well as academia. In an academic environment, it helps student relate, better understand and implement theoretical concepts on real systems. Experiments described in this paper use a realtime hardware in the loop platform, which consists of a DC-servo control system, MATLAB, Simulink, dSPACE real-time hardware and ControlDesk software. This paper shows how this type of platform can is be used to verify system models and test designed state space controllers.