Hil validation of an embedded system acting as a nonlinear Takagi-Sugeno state observer on an Arduino board

The article presents a method for validating a physical Embedded state observer by using a Hardware In The Loop architecture. As an application, a two water tank system was chosen. For the validation of the observer, a software has been employed, specifically LMS AMESim, interfaced by Simulink on a Windows operating system. Even though Windows is not well suited for real time operations, it is the most common operating system and it has proven to be robust enough to sustain our tests. The article also shows the capability of small scaled microcontroller based systems to handle complex algorithms. It also promotes the simplicity of implementing Takagi-Sugeno algorithms in small scaled numerical systems. Although tests were made on a Arduino UNO version, by adding the benefits of the powerful, in development, ArduinoTRE Board, the power bonus of Texas Instruments processor allows more complexity as well as signal filtering and faster and more secure communication protocols.