Integrated Development Environment for Underactuated Non-linear Control Systems

In this work it is presented the adopted solution in the electronic control lab of a university department to cover the existing gap, both in teaching and research, related to integrated tools for identification, design, simulation and execution of control solutions for underactuated nonlinear prototype systems. The proposed development system includes both hardware and software components which shortens the real validation of control algorithms and make it easier the monitoring of variables and redesign, typical in the optimization and adjust stage of practical solutions. Using a Pendubot kit it is shown the typical stages of usage of the integrated development environment, and from those stages a wide spectrum of possibilities are proposed within the identification and control of underactuated plants framework.