Title: A FPGA-based state space controller
Authors: T. Ananthan
Addresses: Department of Electrical and Electronics Engineering, Amrita School of Engineering, Amrita Vishwa Vidyapeethem, Coimbatore, India
Abstract: For many years digital controllers have been implemented using microprocessors, microcontrollers, digital signal processors etc. Recently, field programmable gate arrays (FPGA) is found to be an alternative because of its high processing speed. In this context, this paper presents the implementation of state space controller (SSC) on FPGA. SSC contains an observer to estimate the system unknown states variables. Matrix multiplications involved in this estimation take most of the computation time of the controller. In order to make SSC much more competent for controlling fast dynamic systems, a new FPGA based parallel architecture is proposed. The reduction in computation time with optimal hardware resources is achieved by developing an efficient multistage matrix multiplication algorithm (MMM). The performance of FPGA-based SSC is validated by implementing it in an inverted pendulum control system. The design is mapped on xilinx virtex-5 FPGA device with a maximum frequency of 449.438MHz.
Keywords: state space controller; SSC; observer; field programmable gate arrays; FPGA; parallel architecture; application specific integrated circuit; ASIC.
DOI: 10.1504/IJAAC.2019.096417
International Journal of Automation and Control, 2019 Vol.13 No.1, pp.84 - 100
Received: 15 Jul 2017
Accepted: 18 Nov 2017
Published online: 28 Nov 2018 *