Real-time simulation in an academic environment

A system that uses both digital and analog components and provides real-time simulation of control systems is described. The simulated system may include transportation lag and various nonlinear phenomena such as relay control functions, saturation, dead zone, static friction, and Coulomb friction. The nonlinear effects are simulated digitally, while the remaining linear elements are simulated using analog components. In an academic environment, the implementation of real-time simulation provides a high degree of realism, and the effects of system variations are readily observed. The experience tends to combine synergistically with theoretical discussions in the classroom, and the students receive the opportunity to observe and study phenomena that are often avoided in academic programs due to perceived conceptual or mathematical difficulties