Abstract
In this chapter, the basic ideas of real-time control systems with applications in mechatronics will be discussed. The chapter starts with the introduction of a real-time system (RTS), real-time operating system (RTOS), and digital control systems. Then several interesting engineering applications of RTS are demonstrated. The detailed arrangements of this chapter are as follows: In Sect. 1, the definition and characteristics of the RTS will first be discussed, then various controller designs with respect to RTS will be reviewed. In Sect. 2, 3, and 4, the applications and analyses for three different mechatronics systems, i.e., automotive steer-by-wire systems, electronic throttle systems, and linear motor systems, are given with detailed mathematical modeling and corresponding control design. In Sect. 5, conclusions of this chapter are drawn.
It is assumed that the reader has a solid background in basic control science and engineering or has some practical experience in the design or implementation of embedded systems.