Hybrid Models for Motion Control Systems

This paper presents a mathematical framework for modeling motion control systems and other families of computer controlled devices that are guided by symbol strings as well as real valued functions. It discusses a particular method of organizing the lower level structure of such systems and argues that this method is widely applicable. Because the models used here capture important aspects of control and computer engineering relevant to the real-time performance of symbol/signal systems, they can be used to explore questions involving the joint optimization of instruction set and speed of execution. Finally, some comparisons are made between engineering and biological motion control systems, suggesting that the basic ideas advanced here are consistent with some aspects of motor control in animals.

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