A methodology to design FPGA-based PID controllers

Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics

Volumn 3, Issue , 2006, Pages 2577-2583

  Lima, João ^a,b   Menotti, Ricardo ^c   Cardoso, João M P ^d,e   Marques, Eduardo ^c  

^a UNIVERSITY OF ALGARVE   (Portugal)

^b CSI   (Portugal)

^c UNIVERSITY OF SÃO PAULO   (Brazil)

^d INSTITUTO SUPERIOR TÉCNICO   (Portugal)

^e INESC ID   (Portugal)

Author keywords

[No Author keywords available]

Indexed keywords

FIELD PROGRAMMABLE GATE ARRAYS (FPGA); MATLAB; RESOURCE ALLOCATION; SPECTRUM ANALYSIS;

FIXED-POINT REPRESENTATIONS; SIMULINK;

THREE TERM CONTROL SYSTEMS;

EID: 34548136624     PISSN: 1062922X     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICSMC.2006.385252     Document Type: Conference Paper

References (22)

1. K. Äström, T. Hägglund, "PID Controllers: Theory, Design, and Tuning," in Instrument Society of America, Research Triangle Park, NC, USA, 2nd, 1995.
2. Michael A Johnson, Mohammad H Moradi, and J Crowe, PID control : new identification and design methods, Springer, New York, 2005.
3. F. Michaud, and D. Letourneau, "Mobile robot that can read symbols," in Proceedings 2001 IEEE International Symposium on Computational Intelligence in Robotics and Automation, 29 July-1 Aug. 2001, pp. 338-343.
4. I. E. Paromtchik, U. Rembold, "A practical approach to motion generation and control for an omnidirectional mobile robot," in IEEE International Conference on Robotics and Automation, 8-13 May 1994, vol.4, pp. 2790-2795.
5. H. Zhang, G. Trott, R. P. Paul, "Minimum delay PID control of interpolated joint trajectories of robot manipulators," in IEEE Transactions on Industrial Electronics, Volume 37, Issue 5, Oct. 1990, pp. 358-364.
6. F. Caccavale, C. Natale, B. Siciliano, and L. Villani, "Integration for the next generation: embedding force control into industrial robots," in IEEE Robotics Automation Magazine, Vol. 12, Issue 3, Sept. 2005, pp. 53- 64.
7. R.-X. Chen, L.-G. Chen, and L. Chen, "System Design Consideration for Digital Wheelchair Controller," in IEEE Transactions on Industrial Electronics, Vol.47, No.4, Aug. 2000, pp. 898-907.
8. L. Samet, N. Masmoudi, M.W. Kharrat, and L. Kamoun, "A Digital PID Controller for Real Time and Multi Loop Control: a comparative study," in Proceedings IEEE Int 'I Conference on Electronics, Circuits and Systems (ICECS'98), Vol.1, Sep. 7-10, 1998, pp. 291-296.
9. Sungsu Kim, and Seul Jung, "Hardware Implementation of a Real Time Neural Network Controller with a DSP and an FPGA," in Proceedings IEEE Int'l Conference on Robotics and Automation (ICAR'04), New Orleans, USA, April, 2004, pp. 4639- 4644.
10. W. Zhao, B.H. Kim, A.C. Larson and R.M. Voyles, "FPGA Implementation of Closed-Loop Control System for Small-Scale Robot," in Proceedings Int'l Conference on Advanced Robotics (ICAR'05), v. 1, 2005.
11. David Gwaltney, Ken King, and Keary Smith, "Implementation of Adaptive Digital Controllers on Programmable Logic Devices," in 5th Annual Military and Aerospace Programmable Logic Devices (MAPLD) Int 7 Conference, 10-12 Sep. 2002, Laurel, MD, USA.
12. J. Li, and B.-S. Hu, "The Architecture of Fuzzy PID Gain Conditioner and Its FPGA Prototype Implementation," in Proceedings 2nd IEEE Int 7 Conference on ASIC, Oct. 21 -24, 1996, pp. 61 -65.
13. M. Petko, G. Karpiel, "Semi-automatic implementation of control algorithms in ASIC/FPGA," in Proceedings Emerging Technologies and Factory Automation (ETFA '03), Sept. 2003, vol. 1, pp. 427- 433.
14. The Mathworks Inc., http://www.mathworks.com
15. George A. Constantinides, Peter Y.K. Cheung, and Wayne Luk "Optimum and Heuristic Synthesis of Multiple Word-length Architectures," in IEEE Transactions on Very Large Scale Integration Systems, 13 :(1), 2005, pp.39-57.
16. George A. Constantinides, Peter Y.K. Cheung, and Wayne Luk, Synthesis and Optimization of DSP Algorithms, Kluwer Academic Publishers, 2004, pp. 1-164.
17. K. Han and B. L. Evans, "Optimum Wordlength Search Using Sensitivity Information," in EURASIP Journal on Applied Signal Processing, special issue on Design Methods for DSP Systems, vol. 2006, no. 5, 2006, pp. 103-116.
18. William H. Harrison, "Compiler Analysis of the Value Ranges for Specializeds," in IEEE Transactions on Software Engineering, 3(3), May 1977, pp. 243-250.
19. M. Stephenson and J. Babb and S. Amarasinghe, "Bitwidth Analysis with Application to Silicon Compilation," In Proceedings of the SIGPLAN Conference on Programming Language Design and Implementation, Vancouver, British Columbia, June 2000.
20. A. Nayak, M. Haldar, A. Choudhary, and P. Banerjce, "Precision and error analysis of MATLAB applications during automated hardware synthesis for FPGAs," in DATE 2001, pp. 722-728.
21. Xilinx, Inc. http://www.xilinx.com
22. Altera, Inc. http://www.altera.com