Title: Performance evaluation of platform-specific implementations of numerically complex control designs for nano-positioning applications

Authors: Marcus Müller; Johannes Klöckner; Irina Gushchina; Alexander Pacholik; Wolfgang Fengler; Arvid Amthor

Addresses: Computer Architecture and Embedded Systems Group, Ilmenau University of Technology, FG RA, P.O. Box 100565, D-98684 Ilmenau, Germany ' Computer Architecture and Embedded Systems Group, Ilmenau University of Technology, FG RA, P.O. Box 100565, D-98684 Ilmenau, Germany ' Computer Architecture and Embedded Systems Group, Ilmenau University of Technology, FG RA, P.O. Box 100565, D-98684 Ilmenau, Germany ' Computer Architecture and Embedded Systems Group, Ilmenau University of Technology, FG RA, P.O. Box 100565, D-98684 Ilmenau, Germany ' Computer Architecture and Embedded Systems Group, Ilmenau University of Technology, FG RA, P.O. Box 100565, D-98684 Ilmenau, Germany ' System Analysis Group, Ilmenau University of Technology, FG Systemanalyse, P.O. Box 100565, D-98684 Ilmenau, Germany

Abstract: Developing machines capable of positioning and measuring in nano-metre dimensions is an overall challenging endeavour, which not at least includes providing a highly dynamic and precise trajectory tracking control system. To effectively employ such a control system an adequately performing implementation on an embedded real-time processing system is essential for process performance and quality. In this article an implementation study of a Kalman filter component is presented, comparing the solutions for general purpose processor and digital signal processor to a range of designs for field-programmble gate arrays. Evaluating the performance of the respective implementations for a PXI platform and thus indicating the feasibility of industrial and standard-compliant application is the emphasis of this contribution.

Keywords: nanotechnology; motion control; Kalman filtering; embedded systems development; field programmable gate arrays; FPGA; performance evaluation; platform-specific implementation; complex control design; nanopositioning.

DOI: 10.1504/IJES.2013.052147

International Journal of Embedded Systems, 2013 Vol.5 No.1/2, pp.95 - 105

Received: 06 Jul 2011
Accepted: 14 Mar 2012

Published online: 15 Feb 2013 *

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