Advanced embedded nonlinear observer design and HIL validation using a Takagi-Sugeno approach with unmeasurable premise variables

Severus Constantin Olteanu 1 A Aitouche 2 L Belkoura 1
1 SyNeR - Systèmes Non Linéaires et à Retards
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
2 STF - Systèmes Tolérants aux Fautes
CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
Abstract : The article's goals are to illustrate the feasibility of implementing a Takagi Sugeno state observer on an embedded microcontroller based platform and secondly to present a methodology for validating a physical embedded system using a Hardware In The Loop architecture, where a simulation software replaces the process. As an application, a three water tank system was chosen. For the validation part, LMS AMESim software is employed to reproduce the process behaviour. The interface to the embedded platform is assured by Simulink on a Windows operating system, chosen as it is the most commonly used operating system. The lack of real time behaviour of the operating system is compensated by a real time kernel that manages to offer deterministic response times. The Takagi-Sugeno observer in the case of this process has the complex form that considers the premise variables to be unmeasurable. The embedded system consists of two Arduino boards connected in parallel, thus offering distributed resources.
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Communication dans un congrès
European Workshop on Advanced Control and Diagnosis, Nov 2014, Berlin, Germany. 2014
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Severus Constantin Olteanu, A Aitouche, L Belkoura. Advanced embedded nonlinear observer design and HIL validation using a Takagi-Sugeno approach with unmeasurable premise variables . European Workshop on Advanced Control and Diagnosis, Nov 2014, Berlin, Germany. 2014. 〈hal-01248954〉

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