You are here: Home / RTLWS 1999-2017 / RTLWS Submitted Papers / 
2022-08-13 - 06:15

Real Time Linux Workshops

1999 - 2000 - 2001 - 2002 - 2003 - 2004 - 2005 - 2006 - 2007 - 2008 - 2009 - 2010 - 2011 - 2012 - 2013 - 2014 - 2015

13th Real-Time Linux Workshop from October 20 to 22 at the Faculty of Electrical Engineering, Czech Technical University in Prague

Announcement - Hotels - Directions - Agenda - Paper Abstracts - Presentations - Registration - Abstract Submission - Sponsoring - Gallery

A Nonlinear Model-Based Control realized with an Open Framework for Educational Purposes

Klaus Weichinger

Today, nonlinear model-based control methods are essential part in different control applications. To provide a complete open framework for educational purposes this contribution extends common open source software (SCILAB/SCICOS, MAXIMA and rt-preempt Linux real-time system) with a low-cost do-it-yourself open hardware interface and a web-based monitoring system embedded into SCICOS blocks.

The simple concept of the open hardware interface called BIOE (Basic Input Output Elements, allows the real-time application to interact with general analog and digital signals as well as to more complex devices (e.g. resistive touch panels, RC servos, I²C acceleration sensors). Furthermore, a prototype of a web-based monitoring system using AJAX is treated. It consists of a http web server embedded into a SCICOS block so that existing SCICOS code generation packages for rt-preempt Linux can be used without modifications.

To demonstrate the applicability and usability of the proposed framework a nonlinear model-based control law for a mechatronic multi-input multi-output system is derived with the concept of input/output linearization and realized with the proposed open framework.