Computer Controlled Systems: Theory and Design

Industrial control systems (ICSs) are transitioning from legacy-electromechanical-based systems to modern information and communication technology (ICT)-based systems creating a close coupling between cyber and physical components. In this paper, we explore the ICS cybersecurity landscape including: 1) the key principles and unique aspects of ICS operation; 2) a brief history of cyberattacks on ICS; 3) an overview of ICS security assessment; 4) a survey of “uniquely-ICS” testbeds that capture the interactions between the various layers of an ICS; and 5) current trends in ICS attacks and defenses.

The Cybersecurity Landscape in Industrial Control Systems

Statistical Design and Analysis of Experiments

Hardware-in-the-loop (HIL) simulation is rapidly evolving from a control prototyping tool to a system modeling, simulation, and synthesis paradigm synergistically combining many advantages of both physical and virtual prototyping. This paper provides a brief overview of the key enablers and numerous applications of HIL simulation, focusing on its metamorphosis from a control validation tool into a system development paradigm. It then describes a state-of-the art engine-in-the-loop (EIL) simulation facility that highlights the use of HIL simulation for the system-level experimental evaluation of powertrain interactions and development of strategies for clean and efficient propulsion. The facility comprises a real diesel engine coupled to accurate real-time driver, driveline, and vehicle models through a highly responsive dynamometer. This enables the verification of both performance and fuel economy predictions of different conventional and hybrid powertrains. Furthermore, the facility can both replicate the highly dynamic interactions occurring within a real powertrain and measure their influence on transient emissions and visual signature through state-of-the-art instruments. The viability of this facility for integrated powertrain system development is demonstrated through a case study exploring the development of advanced High Mobility Multipurpose Wheeled Vehicle (HMMWV) powertrains.

Review of hardware-in-the-loop simulation and its prospects in the automotive area

LEGO Mindstorms NXT robots are being increasingly used in undergraduate courses, mostly in robotics-related subjects. But other engineering topics, like the ones found in data acquisition, control and real-time subjects, also have difficult concepts that can be well understood only with good lab exercises. Such exercises require physical educational tools that should be low cost, easy to configure and use, multi-purpose and motivational for the students, being all of this hard to achieve with a single device. The ''classical'' solution has been to acquire specific commercial kits for each subject, or even topic, usually proprietary and expensive. Our work extends the already existing alternative of using the LEGO Mindstorms NXT robots as a training platform, but not by imitating the same approach of commercial kits (e.g., to isolate some part of the robot for teaching a particular topic); we rather aim at accomplishing all the mentioned requirements simultaneously. For that purpose, we have used only one out-of-the-box, complete robot configuration, to be shared among different subjects without hardware/software/firmware modifications. This has reduced significantly the effort of a group of professors when preparing exercises, and encouraged the reuse of their work among several topics and subjects. Also, we have collected a number of surveys on students and the professors' experiences. In this paper we describe our approach and present in detail the results, which assess the higher motivational adequacy of using a complete robot in these subjects and also the real fulfillment of the other requirements along several academic years.

A LEGO Mindstorms NXT approach for teaching at Data Acquisition, Control Systems Engineering and Real-Time Systems undergraduate courses

This paper describes the concept of the "hardware-in-the-loop" design system implemented as an experimental part of a control engineering course. The concept of "hardware-in-the-loop" (HiL) method is to use a simulation model of the plant and the industrial standard target controller. The integrated analysis and simulation environment supports the design system. Hardware and software components of the HiL system are presented in the paper and an example of the laboratory exercise is described to give insight into the approach, which has been adopted.

Hardware-in-the-loop simulation and its application in control education

A current trend in learning programs, even at high-degree studies. is applying the concepts of ldquolearning be projectsrdquo, In this context, the LEGOreg MINDSTORMSreg NXT modular robot appears as a simple. flexible and attractive educational platform to achieve the referred challenge in many domains of information technologies. especially in real-time control, The project team can operate with the real system (e.g. constructed robot) to realize a number of particular tasks, The ready-to-use embedded platform and dual microcontrollers architecture represents actual trends in the modern control systems designs, The open hardware and software architecture gives unlimited possibility to handle all devices connected to the main control of brick and write effective control algorithms, The proposed rescue robot project is a good example of the simple system where. a number of real-time control problems can be analyzed. The project on this scale requires detailed planning. cooperation in teams. extensive literature survey, and comprehensive software design, That is exactly, what we need for ldquolearning by projectsrdquo concept.

Real-time control teaching using LEGO® MINDSTORMS® NXT robot

Department of Control, AGH University of Science and TechnologyAl. Mickiewicza 30, 30–095 Cracow, Polande-mail: {wgr,ap}@ia.agh.edu.plThe contactless nature of active magnetic bearings brings about many advantages over the conventional bearing whileindustrial real-time applications are often limited by the signiﬁcant complexity of control algorithms. This paper presentsthe application of an LQ controller to an active magnetic bearing system (AMB). Two control strategies are presented andcompared: local and global. In the ﬁrst case the rotor is modelled as two separated masses located at the bearing. In thesecond case rotor stabilization is considered globally as a problem of the rotating rigid body suspended in a magnetic ﬁeld.The second approach is especially important for high-speed rotating machines. The control performance of both algorithmswas analysed using an experimental AMB laboratory system.

/pdf/comparison-of-linear-control-methods-for-an-amb-system-3d8i0vr8u4.pdf

Comparison of linear control methods for an amb system

This paper describes the laboratory environment for experiments in digital control of a coupled tank system. The control process consists of upper and lower containers with draining orifices. As the cross section of the lower container varies with the level, the dynamic of the process changes extensively with the selected steady-state operating level. Measurements of the tank levels are available, while the flow rate into the upper tank is forced by a pump driven by an electric motor. A nonlinear model is employed to study various features of the process. The control strategy is to stabilize the level in the lower tank by adjustment of the flow rate into the upper tank. An IBM AT, equipped with a universal analog input/output board is used to control the process. The interactive real-time software frame, available under MS-DOS, uses selectable operating modes to analyze the performance of different control algorithms. A digital state-feedback algorithm is presented as an illustration. >

Digital control of a tank system

How to educate future engineers, so that they acquired new skills and competences to become developers of Cyber Physical Systems (CPS)? The paper demonstrates a curriculum framework that was developed and successfully implemented some years ago, as an outcome of two international projects undertaken by a consortium of the European and American universities. The projects had focused on special category of CPS - Real-Time CPS. Examples of laboratory environment supporting education in the field of Real Time CPS are given in the paper.

/pdf/real-time-cyber-physical-systems-transatlantic-engineering-2umb92ecxm.pdf

Wojciech Grega

Papers

Hardware-in-the-loop simulation and its application in control education

Real-time control teaching using LEGO® MINDSTORMS® NXT robot

Comparison of linear control methods for an amb system

Digital control of a tank system

Real-time Cyber-Physical Systems transatlantic engineering curricula framework