A software configurable coprocessor-based state-space controller

We present a software configurable coprocessor-based state-space controller that can control physical processes representable by a linear state-space model. Our proposed architecture has distinct advantages over purely software or purely hardware approaches. It differs from other hardware controllers in that it is not hardwired to control one or a small range of plant types (e.g. only electric motors). Via software, an embedded systems engineer can easily reconfigure the controller to suit a wide range of controls applications that can be represented as a state-space linear model. Additionally, we introduce a novel design methodology to help bridge the gap between controls and embedded system engineering. Control of the well-understood inverted pendulum on a cart is used as an illustrative example of how the proposed hardware accelerator architecture supports our envisioned design methodology for helping bridge the gap between controls and embedded software engineering.