Research on FPGA-Based Controller for Nonlinear System

Many of linear control applications require real-time operation; higher density programmable logic devices such as field programmable gate array (FPGA) can be used to integrate large amounts of logic in a single IC. This work, proposes a developed method to design PD controller (PDC) with optimal-gains using FPGA. The method used to design PD controller is to design it as digital design Proportional and Derivative controller in parallel through the summer. The proposed design is 32-bits FPGA-based controller (32PDC), which uses 32-bits for each input/output variable. The single joint of robot is used to test the controller in simulation environments, using VHDL code for the purpose of simulation in Xilinx. The same design is coded in MATLAB environment (MPDC) in order to make a comparison with the proposed FPGA-based design. PDC needs 16 clock cycles to complete one action with maximum frequency of 108.5 MHz. 32PDC is able to produce an output in 13.24 MHz with the robot system. Therefore, the proposed controller will be able to control a wide range of the systems with high sampling rate and 75.545 ns delays.