Real-Time Optimal Control and Controller Design on Embedded Systems

Gerhard Rath

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)


Modern small-scale electronic systems based on ARM-processors provide surprising computing power and allow implementation of complex algorithms that usually are not applied in automation engineering. In this work a Hamiltonian-based optimal path control for a dynamical system of fourth order is implemented. It turns out that even the controller design that requires advanced numerical computation can run on the system in a real-time manner. In order to verify the theoretical approach, the controller was tested on a mechanical model. Finally the performance data of the actual control task are given.
Original languageEnglish
Title of host publicationEmbedded Computing (MECO), 2015 4th Mediterranean Conference on
Place of PublicationBudva
Number of pages4
Publication statusPublished - 6 Jun 2015

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