Commande des systèmes temps réel, Implémentation sur la carte dSPACE1104

Abstract

The aim of this work is to study the feasibility of the implementation of different control technics for real time systems using a control board dSPACE 1104. A set of state-of-the art control algorithms were developed using an environment integrating Simulink, MATLAB and ControlDesk. Each algorithm corresponds to a particular type of control methods: LQR control for the class of controllers based on the linearization of nonlinear systems around an operating point, the ISMC control for the class of controllers that are based on the nonlinear dynamics of the systems, neural network control for the class of controllers based on artificial intelligence, and adaptive backstepping robust control, which was developed precisely to study the adaptive aspect. Each algorithm is applied to the inverted pendulum system in the framework of a simulation, then, implemented and tested on real platform. The results are discussed and compared.