Rapid Controller Prototyping (RCP) requires two components: a Computer Aided Control System Design (CACSD) software and a dedicated hardware with a hard real-time operating system. The software should allow to perform all phases of control system design (specification, modelling and identification, control design, simulation, implementation and verification) in the same environment. A graphcal application allows the user to create models for dynamic systems simply by connecting blocks from available libraries. Among others, some blocks implement linear systems given as transfer functions or state-space realizations both in continuous and discrete time. An integrated code generator allows to directly create code from the graphical scheme. The COMEDI project ([1]) provides the drivers to interface the system with the real plants.

rtailab.pdf

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