Hardware-in-the-loop environment for control systems evaluation under Linux/RTAI

In this paper we propose a general purpose hardware/software environment for hard real time simulation of dynamical systems in the context of control engineering. With this system, realistic analysis and tests can be carried out for controller algorithms characterized by time determinism with strict restrictions, multiple inputs and multiple outputs and based on robust control theory. A hard real time system for plants simulation, controller implementation and testing (EPESC) has been developed, which is based on Real Time Linux (Linux-RTAI) and COMEDI project. The complete system provides a flexible and scalable environment for controller design, implementation and evaluation with hard real time restrictions. EPESC system has been developed by open-source software. The increasing prominence of open-source software is an important trend that has many positive benefits for scientific community.