azais-corentin/Simc-old

Simulation and control

Simc

Simulation and control environment

Long term goals

• Provide an environment to test models (written in C++)
• Provide an environment to test observers (written in C++)
• Provide en environment to test control strategies (written in C++)
  • PID
  • Sliding mode control
• Extension based components with different implementations:
  • Integrators
    • RK4
    • Euler
    • Adaptive time-step methods
  • Systems:
    • Inverted pendulum on a cart
    • Brushless DC motor
  • Sensors:
    • Gaussian noise
    • Quantification
    • Delay
  • Observers
    • None (Passthrough)
    • Luenberger
    • Kalman filter
  • Controllers:
    • PID
    • Sliding mode

The following diagram explains the flow of the information from the digital world with the trajectory generator, controller and observer to the physical world with the system and sensors.

Working principle

1. Choose an integrator.
2. Choose a model.
3. Configure parameters, initial state, ...
4. (Choose an observer.)
5. Choose a control law.
6. Simulate.