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A framework for implementing real-time control systems

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A framework for the implementation of advanced real-time control systems which uses signal/block-based schematics (like Simulink) extended by several features like state machines and online-exchangeable sub-simulations. Besides, this framework properly handles multiple threads, their communication, allows to synchronise control systems to external events (e.g. variable timers or incoming network packages) and provides many other nice features. Because of a high-level schematic-description language -- in form of provided Scilab commands -- only a minimal implementation-effort (no error-prone C-programming) is required.

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  • Development of control systems (feedback / feedforward controllers) or signals processing algorithms using an extension to Scilab
  • Highly flexible through advanced features like state machines, multiple threads (e.g. one thread per simulator), ability to replace parts of the controller online
  • Linux real-time preemption support
  • Modular framework
  • Generic I2C hardware interface
  • Ability to include own C/C++ code
  • Remote control interface (UDP)
  • Painless implementaion of highly nonlinear equations through the use of muParser (
  • Four years of development so far -- stable operation (e.g. used in medical engineering) and extensively tested
  • Support for ARM devices (e.g. raspberry pi, beaglebone, ...) and android


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Intended Audience


Programming Language

C++, C, Scilab



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