Real-Time Optimal Control and Controller Design on Embedded Systems

Modern small-scale electronic systems based on ARM-processors provide surprising computing power and allow implementation of complex algorithms that usually are not applied in automation engineering. In this work a Hamiltonian-based optimal path control for a dynamical system of fourth order is implemented. It turns out that even the controller design that requires advanced numerical computation can run on the system in a real-time manner. In order to verify the theoretical approach, the controller was tested on a mechanical model. Finally the performance data of the actual control task are given.