Chapter - 7: High Performance Computing

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Real Time Computer Control of a Nonlinear System

Presented by: Kazmi S. M. Raza

This paper aims to develop a control theory for a nonlinear, non-square, highly coupled, multivariable system and then to implement it in real time through a computer. The work-is oriented around the programming in RT Linux using GNU C for the real time realization of the control scheme. The real time processes, like sampling and controlled actuation, and the non real time processes, like graphical user interface and display, are programmed as different tasks. The issue of inter process communication is addressed quite carefully. First the mathematical description of the system is achieved. An intelligent work is done to decouple the multivariable system. Linearization and stability analysis techniques are employed for the development of a linearized and mathematically sound control law. Nonlineanties like the saturation in actuators are also been catered. Finally the controller is programmed in discrete time using Runge-Kutta integration.

Publications CD Page No: 275 - 282