A Two-Level Control-Design Methodology and a Software Toolset for Mechatronics

The available control synthesis methods, as well as the synthesis software tools, however sophisticated, are capable of dealing only with rather simple controlled system models, mostly linear. In practice, however, the systems tend to be complex, nonlinear, and subject to many constraints. In addition, the characteristics of the system components may not be precisely known. Also the controller and sensor characteristics are usually far from ideal. Thus, the design of any practical control system always involves many trialand-error procedures.