Techniques for the implementation of control algorithms using low-cost embedded systems

The feedback control literature has reported success in numerous implementations of systems that employ state-of-the-art components. In such systems, the quality of computer controller, actuators and sensors are largely unaffected by nonlinear effects, external disturbances and finite precision of the digital computer. Overall, this type of control systems can be designed and implemented with comparative ease. By contrast, in cases when the implementation is based on limited resources, such as, low-cost computer hardware along with simple actuators and sensors, there are significant challenges for the developer. This thesis has the goal of simplifying the design of mechatronic systems implemented using low-cost hardware. This approach involves design techniques that enhance the links between feedback control algorithms (in theory) and reliable real-time implementation (in practice). The outcome of this research provides a part of a framework that can be used to design and implement efficient control algorithms for resource-constrained embedded computers. The scope of the thesis is limited to situations where 1) the computer hardware has limited memory and CPU performance; 2) sensor-related uncertainties may affect the stability of the plant and 3) unmodelled dynamic of actuator(s) limit the performance of the plant. The thesis concludes by emphasising the importance of finding mechanisms to integrate low-cost components with nontrivial robust control algorithms in order to satisfy multi-objective requirements simultaneously.