Model Based Control Design -- a Free Tool-Chain

Publikation, 2014


G. Grabmair, S. Mayr, e. al - Model Based Control Design -- a Free Tool-Chain in ecc14, 2014


In this study we present a new free tool-chain for model based control design for mechatronic plants applicable to small embedded systems based among other software on the open simulator Scilab-XCos. After a very short introduction of model based design terms this article focuses on the code generator and the other programs of the tool-chain. The design concept is demonstrated by an adaptive self tuning control (STC) of the cart and pendulum system in gantry crane configuration in simulation and on a real laboratory experiment.