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Development of a Real-Time Digital Control System With a Hardware-in-the-Loop Magnetic Levitation Device for Reinforcement of Controls Education
Panayiotis S. Shiakolas, Member, IEEE, and Damrongrit Piyabongkarn
AbstractThis paper discusses the development of a real-time digital control system with hardware in the loop (HIL) for modeling and controls education. This environment requires software tools by MathWorks, Inc. and a C++ compiler. The hardware tools include an off-the-shelf data acquisition card and the desired hardware to be controlled. The use of a single environment for dynamic system analysis, control law development, simulation evaluation, and final implementation on an HIL system has many educational advantages as compared to multienvironment settings. This hosttarget real-time environment is implemented and demonstrated by controlling a nonlinear, open-loop unstable, and time varying custom-built magnetic levitation device. The values of any parameter (control law, reference trajectory) in the Simulink model can be changed dynamically on the host computer without recompiling the control code, and their effects are observed in real-time on the HIL system. This environment allows for extensive experimentation, development of linear and nonlinear controllers, and performance comparison with HIL as shown in the presented examples. The educational features of this environment are presented throughout the paper and were verified in a class setting. Index TermsControl education, magnetic MATLAB, real-time, simulink, xPC target. levitation,

I. INTRODUCTION HE use of a single environment for dynamic system analysis, control law development, and simulation evaluation has many advantages as compared to multienvironment settings, especially in an educational setting where students are not required to learn or familiarize themselves with a number of software tools, thus freeing up time for activities that reinforce the learning of the fundamental concepts presented. In addition, the use of hardware-in-the-loop (HIL) devices where one could observe in real time the system response as a result of changes of reference trajectories or controller parameters would reinforce concepts presented in class. The combination of these two settings in an easy to setup environment and the use of the simulation software for control of the HIL device adds another level of understanding of the fundamental concepts. MATLAB by MathWorks, Inc. [1] is widely used in the dynamic system and controls analysis and simulation areas. MATLAB is the basic engine with add-on components called toolboxes. Simulink is a MATLAB add-on that provides a graphical user interface for model development and system simulation [2]. The Real Time Workshop, RTW, toolbox is
Manuscript received December 4, 2001; revised April 16, 2002. The authors are with the Mechanical and Aerospace Engineering Department, University of Texas, Arlington, TX 76019 USA (e-mail shiakolas@uta.edu). Digital Object Identifier 10.1109/TE.2002.808268

capable of generating real time code for Simulink models [3]. The xPC Target toolbox allows access to input/output data directly from a compatible data acquisition card and generates, compiles, and creates real-time executable code for Simulink models without the user having to write low-level code [4]. These toolboxes enhance the capabilities of MATLAB not only in the digital prototyping arena but also in the HIL arena. MATLAB provides a unique environment where students could perform dynamic analysis, study and evaluate the simulated response of a system, implement, evaluate, and improve the performance of control laws in a simulated mode, and then easily port the developed controllers to hardware all within the same familiar interface. Being able to capture generated real-time data allows for analysis at a later time such as system identification or plotting. The result is an integrated environment in which a student can perform rapid prototyping, system analysis, and implementation and verification of traditional and advanced control laws in a simulation environment. Finally with minor changes the student can easily generate real-time code. The real-time code is used to control a system in a HIL environment. The data generated by any component of the model, digital or hardware, can be displayed in real-time and/or saved for later use. A valuable teaching tool that enhances and reinforces learning and understanding of fundamental concepts presented in class is the ability to observe the HIL response in real-time because of changes in the reference input or control parameters and to explain the system behavior because of these changes. An environment similar to the one described above was implemented and demonstrated through the digital control of a magnetic levitation device. The host-target real-time environment is implemented using MathWorks tools, a data acquisition board from National Instruments, and a Visual C++ compiler from Microsoft. The selected HIL is a custom-built magnetic levitation (maglev) system. The maglev system is chosen because it is nonlinear, open-loop unstable, and time varying. The main components of the maglev system are an electromagnet, an infrared emitter/receiver (IR) pair for detecting the position of the ferromagnetic object, and a power transistor for powering the electromagnet. A literature survey on the use of experimental digital controllers focused on magnetic levitation devices will be presented. Then, the required tools will be introduced along with a discussion on the development and implementation of the digital controller and the available tools. Features and highlights of this rapid prototyping environment will be presented

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Fig. 1.

Host-target real-time control system architecture.

through experimental results. Finally, the educational aspects and issues of the experiments to be performed, along with the use of the hardware and software setups, will be presented based upon student assessment. A. Literature Survey The software suite by MathWorks Inc. is a well-established and proven platform for modeling and simulation. Most engineering and science students get introduced to MATLAB and the various toolboxes at an early stage of their college career. It would be advantageous if MATLAB could provide the backbone for a rapid prototyping system according to [5]. Several researchers used the TMS320C31 digital signal processor (DSP) from Texas Instruments Inc., and RTW generated real-time code. DSPs are highly optimized for fast arithmetic, and can be used in developing very demanding controllers and sophisticated control strategies, such as [6][9]. However, the interface between the RTW generated code and the TMS320C31 must be manually performed using custom low-level programs in C or some other language. If this custom interface is not performed, then custom software must be written to provide a real-time shell for executing the complete controller on the hardware platform, and to maintain the communication link between the host PC and the real-time DSP controller. The HARTS software partially addresses this need by providing a custom link between the Simulink/RTW package and a specific DSP platform from Innovative Integration Inc. [5]. The RTW environment provides for real-time operation using personal computers and multifuction I/O boards. Advanced con, and neural generaltrol algorithms, such as sliding mode, ized predictive control for a maglev system, were implemented [8], [10]. The use of the RTW environment still required the development of custom interface programs for correct communication with the multifunction I/O boards. The Real-Time Windows Target (RTWT) could be used along with RTW, and provides for I/O interfacing, without requiring the development of low-level interfacing programs. RTWT runs under Microsoft Windows using only one computer. The generated target application is executed at a higher priority (ring

0) where other windows applications are executed in the background [4]. The RTWT environment was used for a maglev system [11]. Commercially available environments similar to the one implemented in this work are available from companies such as Quanser, Educational Control Products (ECP), and dSpace. These systems still require MATLAB, Simulink, and RTW from MathWorks, and they are restricted to their own proprietary interface boards. The Quanser system called WinCon is a graphical interface between the user, software, and hardware modules. WinCon requires the MathWorks products and Visual C++ in order to generate the real-time code from a Simulink block diagram. The software is a custom interface designed to interface with the Quanser MultiQ DAQ board [12]. ECP requires the use of tools from MathWorks as well and interfaces with its own proprietary hardware modules [13]. dSpace uses its own real-time interface implementation software to generate and then download the real-time code to specific dSpace boards [14]. II. SYSTEM DESCRIPTION The software and hardware tools used in the development and implementation of this educational environment for digital control algorithm development and testing are discussed in this section. The overall host-target real-time control system architecture is shown in Fig. 1. The main advantage of the combination of RTW and xPC Target is that there is no need for the student to program a controller or other components, such as DAQ board I/O, in a low-level programming language. This combination provides a unique and complete environment for prototyping, testing, and deploying real-time digital controllers using standard hardware components. A desktop PC is used as a host computer running the ubiquitous Windows operating system and other required software tools. The model is developed in Simulink using Simulink blocks, and then it is built, i.e., generates C code, compiles and generates a real-time executable to be downloaded to the host computer. A second desktop type PC system called the target is booted using an xPC boot floppy that loads the

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xPC Target real-time kernel [4]. Subsequently, the generated executable real-time code is downloaded to the target PC via the selected communication protocol without requiring the student or the professor to write any low-level code. Then, the student using Simulink pull-down menus on the host initiates the communication of the model with the target and starts the real-time code. The Simulink environment allows the user to experiment interactively and in real-time by modifying any of the block parameters in the model without the need to rebuild and re-download the model to the target. The connection between the host and target computers is accomplished either through serial (RS-232), or network (TCP/IP) communication. The communication interface must be defined during the xPC setup process from within MATLAB since the communication protocol is required in creating the xPC boot floppy for the target computer. In this paper, serial communication was used since it is inexpensive, easy to install, always available, and requires only a null modem cable. A DAQ card provides the interface between the target computer and the HIL system. The xPC Target software supports and provides built-in drivers for many off-the-shelf industry standard DAQ interface cards [4]. In this project, the PCI-6024E DAQ card by National Instruments [15] was used. MathWorks, Inc. Tools: MATLAB is one of the popular matrix-based math programs for scientists and engineers. Real Time Workshop (RTW): The RTW is used to create ANSI C-code from the Simulink block diagram, to generate a makefile using an xPC Target template, and to create a target application. The target application is then downloaded to the target computer and executed in real-time, without the need for the student to write any low-level or custom software. xPC Target: The xPC Target software is used in a dual PC, host-target, environment. In this environment, a PC running the Windows operating system serves as the host with all the required software (MATLAB, Simulink, C-compiler, xPC, and RTW), to create models in Simulink, run simulations, and generate code. The second PC, a standard AT compatible desktop, is the target. The target is booted from the xPC boot floppy that is easily created from within MATLAB on the host. When the target is booted, the generated code on the host is downloaded and executed in real-time. According to the MathWorks Inc. web page [16] and the xPC manual [16], the xPC Target kernel runs only on PC compatible systems, and all it needs is the BIOS. When the BIOS is loaded, the target boot disk is searched for a bootable image (executable) that includes a 16-bit part and a 32-bit part. The 16-bit part runs first because the CPU is still in real mode, and switches the CPU to a 32-bit protected mode. Then, the 32-bit part runs and prepares the target PC for running the kernel, and finally starts the kernel. After the CPU switches to protected mode (32-bit), none of the xPC Target components switch the CPU back to real mode (16-bit). When the kernel is loaded, the target PC does not make calls to the BIOS or DOS functions, and all the resources on the target PC are addressed through I/O addresses. The real-time kernel activates the application loaded and waits to download a target application from the host PC. The initialization code of the target application reserves the remaining unused RAM as heap. The memory available for the heap is by default 4 MB less

Fig. 2. TargetScope displaying run information and four signals.

than the entire RAM installed (1 MB for the application and 3 MB for the kernel). The largest part of the heap is set for signal logging. The model size, complexity, and target PC hardware characteristics affect the maximum speed (minimum sampling time) of execution. Small models could run with sample times s (100 MHz). For additional information or in depth exof planation, the interested reader is referred to [16]. Full control of the target application and computer using the MATLAB command line interface and functions is provided to the user through the xPC Target application. The RTW and xPC Target support both the Microsoft Visual C/C++ and Watcom C/C++ compilers. In this project, the Microsoft Visual C++ compiler was used. Graphical display components called scopes can be easily defined and controlled on both the host and target using the command-line interface on the host. The scopes can display any signal of the Simulink model. Multiple signals could be displayed on a single scope for comparison purposes. An instance of scopes on the target computer is shown in Fig. 2. A. HIL Transition When the control algorithm is developed and tested in a simulated virtual environment, the transition to the HIL mode is easily performed. The block(s) describing the model of the physical system are removed from the Simulink block diagram and replaced with DAQ blocks for the specific DAQ card in the target computer. The DAQ blocks represent the channels (I/O lines) of the board connected to physical sensors and other hardware components. B. Software Tools Summary A summary of the software tools used and their corresponding version as used in this project are MATLAB 5.3.1, Simulink 3.01, xPC Target 1.0, Real-Time Workshop 3.01, and Microsoft Visual C++ 6.0. C. Magnetic Levitation System HIL An attractive maglev device was chosen as the HIL for implementing and demonstrating this rapid prototyping environment because it is nonlinear, open-loop unstable, and time varying. The basic principle of operation is that of applying and modulating the current to an electromagnet to keep a ferromagnetic object levitated. The object position is determined through a

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III. IMPLEMENTATION In this section the implementation procedure and experimental results will be presented. A. Digital Lead-Lag Controller and Simulink Block Diagram The discrete controller is realized based on the continuous time controller of (2) using the Tustin or bilinear transformation shown in (3)
Fig. 3. Maglev device and free body diagram. TABLE I EXPLANATION OF VARIABLES IN MODELING EQUATION

(3) is the sampling rate. A sampling rate sec where was used in this work, and it is used to obtain the equivalent shown in (4) digital controller (4) B. Implementation of Simulink Block Diagram A general Simulink block diagram for the xPC Target based prototyping environment is shown in Fig. 4. The main components/blocks are the reference trajectory input, digital controller, DAQ card interface block, and sensor gain. The reference inputs are implemented using appropriate Simulink blocks. The controller for xPC Target must be implemented in discrete domain. The DAQ interface block pair is specific for the DAQ card in the target computer. Auxiliary blocks, such as position-to-voltage/voltage-to-position for the reference trajectory or scopes for signal display, could also be defined. One of the advantages of this environment is the capability to use the same software tools to perform control system analysis, design, and controller fine-tuning. Simulated responses using the Simulink model is shown in Fig. 5. When satisfactory performance is obtained in simulation, the Simulink block describing the dynamics of the plant/hardware to be controlled is substituted with a DAQ graphical interface block that defines the appropriate channels for sensor and other information for the HIL system, and the continuous time with a digital controller for HIL control. These substitutions result in an environment ready to control the hardware and provide for real-time fine-tuning of the controller in order to meet the desired performance considering the effects of the disturbances and unmodeled dynamics or for experimentation with other software parameters to demonstrate and reinforce learning of control fundamentals. The Simulink block diagram implemented for HIL control in this work is shown in Fig. 4. This diagram is used to build the model and then download it to the target PC. Once on the target, the maglev device is controlled, and experiments are performed in real-time. Parameter changes are performed from within Simulink, and their effect observed on the HIL device. One of the important educational advantages of this environment is the ability provided to the student to modify system parameters on the host computer and observe their effect on the hardware dynamically in real-time without having to rebuild and redownload the target computer every time a parameter is changed on the host. In the current experimental setup there

sensor. The error between the actual and desired object position is used to modulate the current. The detailed operation and modeling of maglev devices is beyond the scope of this paper, but ample references are available such as [7], [17], [18]. The maglev device used in this paper is shown in Fig. 3. The system input is the current applied to the coil, and the output is the voltage corresponding to the position of the ball as shown in the schematic in Fig. 3. The traditional and extensively used model for an electromagnet is that of a resistor in series with an inductor. This model was used in this analysis for identifying the dynamic equations for the system. The linearized open-loop system modeling equation of this maglev device is shown in (1), and an explanation of the variables is given in Table I [19]. (1) This maglev device was successfully controlled using the analog, continuous time domain, lead-lag compensator shown in (2). (2)

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Fig. 4.

A general simulink block diagram for xPC target.

Fig. 5. Simulated maglev responses in simulink.

are three reference trajectories: a step, a sinusoid, and a square wave. The student could select any or combinations of the available inputs on the host computer, modify any of their parameters, and observe the hardware system behavior or response plots in real-time. Any of the parameters of the inputs (amplitude or frequency) or of the controller could be modified, and their effects observed in real-time. Switching between the three inputs or modifying any parameters do not require the model to be rebuilt, recompiled, and redownloaded to the target, thus providing an environment where experiments can be quickly performed by modifying controller or input parameters and their effect on the performance of the HIL device immediately observed and studied.

C. Experimental Setup The experimental setup requires two computers, a host and a target. The host computer used in this project is a Pentium 166 MHz with 64 MB RAM, running Windows 98 and the suite of required software. The target computer is a Pentium 166 MHz with 96 MB RAM and the DAQ card. The target computer is outfitted with a hard drive and could be used as a regular computer when not used as the real-time controller. However, when employed as the target computer, it is booted using a boot-disk that loads the xPC Target real-time kernel. The host-target pair communicates through a serial protocol using a null modem cable. The experimental hardware setup including the HIL maglev device is shown in Fig. 6.

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B. Sinusoidal Reference Input A sine wave is characterized by amplitude and frequency. The amplitude was changed to 0.2 and 0.4 mm (from the operating point) with a frequency of 1 and 2 Hz. The response plots and the tracking performance of the maglev system using these sinusoidal reference inputs are shown in Fig. 8. The time scales in these figures do not start from zero since the system was in operation when these modifications were performed. The tracking performance indicates an error of approximately 0.05 mm, as detected by the position sensor. The instructor explains to the students that this lead-lag controller is not the optimal controller for this HIL device since there are other effects, such as sensor resolution, disturbances, and unmodeled dynamics, which are not considered in the controller design process. In addition, the discussion for or by the students could address the effects of the amplitude and frequency of the reference signal on the system performance. C. Square Wave Reference Input A square wave is characterized by amplitude and frequency. The amplitude of the square wave was changed to 0.1 and 0.2 mm (from the operating point) with a frequency of 1 and 2 Hz. The response plots and the tracking performance are shown in Fig. 9. The discussion for or by the students can address the effect of the amplitude and frequency on the system performance. It is observed that the system response depends on the magnitude and frequency of the reference signal and the motion of the ball. The system response is different when the ball is commanded to move against gravity (upwards) and pulled by the magnet as compared to the case when is commanded to move with gravity (downwards). D. xPC Target Observed Limitations The experimentation with this environment identified also limitations for the xPC Target version 1.0. There was no provision to use a MATLAB m-file as a block in the Simulink diagram. Thus, all the elements of a model, such as controller, converters, etc., must be implemented using Simulink blocks. This limitation could possibly make the implementation of complex or advanced control algorithms difficult. The other observed limitation relates to the TargetScope, the scope displayed on the target computer. The ordinate-axis for each target scope did not show the minimum and maximum numerical values so that the user could better understand the displayed signals. Thus, any signal displayed on the target provided qualitative information. Also, display and comparison of multiple signals on the same scope was qualitative as well. On the contrary, any scopes generated on the host were showing ordinates with numerical values, thus a more quantitative comparison was possible. E. Educational Experiments The students were given three different diameter and weight ferromagnetic balls as well as similar balls painted with different colors. The operating point for the electromagnetic system is a function of the size and weight of the ball. The operating point is defined using one ball. When the first ball is replaced with another of different size and weight without performing any

Fig. 6.

Experimental setup host-target PCs and maglev device.

The PCI-6024E DAQ card is the interface between the target and components of the maglev device, such as the position sensor and the power transistor. This card could be used to acquire other signals of interest from the system, such as the current in the coil (measured as a voltage across a resistor). The position of the object is detected and measured using the IR sensor pair in analog mode. The control effort required to keep the object levitated is calculated inside the Simulink diagram by the controller. This effort is converted to an analog signal using the DAQ card and sent to the power transistor modulating the coil power. IV. EXPERIMENTAL RESULTS The operating point or offset is added as a reference input to the system, and it is a function of the levitated object (ball) size, weight, or shape. The operating point for this experimental setup is at 14.8 mm below the coil. The values of the parameters of the reference input signals and control algorithms were easily modified in the Simulink diagram and the effects of the changes observed in real-time on the scopes without rebuilding and redownloading the model to the target computer. The parameter modifications in real-time were performed on the host computer and immediately downloaded to the target computer that controlled the HIL device, thus affecting the behavior of the system. The current Simulink diagram has three reference inputs. The experiments consisted of switching between the three inputs and modifying their respective characteristics. Experiments were conducted to demonstrate the features and capabilities of this prototyping environment using the lead-lag controller as presented. A. Step Reference Input This experiment is used to verify the capability of modifying the input parameters and observing their effect in real-time. The reference input was originally set at 14.7 mm. This reference input was changed, while the system was in operation, to 15.0 mm and then to 15.25 mm. The reference input and the system response are shown in Fig. 7(a). This figure is a live capture of the scope displayed on the host during the maglev system operation, and while data is exchanged between the host and target. The data displayed could also be saved for later analysis, such as plotting from the MATLAB command line as shown in Fig. 7(b).

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Fig. 7.

Tracking of step input changes. (a) Host scope interface plot capture. (b) MATLAB command line plot.

Fig. 8. Sine wave tracking and real-time amplitude and frequency modification.

changes on the controller, the student observes the performance of the lead-lag controller if one considers the weight change as a change in the system parameters. Thus the concept of changes in the system output as the result of plant parameter changes are observed, explained, and used for experimentation. The coloring scheme is used to introduce the concepts of unmodeled dynamics, especially in modeling the sensor. The sensor has different characteristics depending on the color of the object being levitated. Thus changes in the sensor parameters are observed by levitating individual balls of same size but

different color. In addition, the students are provided the means to model the sensor using the different colored balls. Then, they easily implement their models in the Simulink block diagram shown in Fig. 4 by modifying the values in the converters from Position to Voltage and Voltage to Position. These changes do not require the students to rebuild and re-download the new Simulink model but rather the changes immediately take effect. When the changes take place, the students experiment with the new sensor model by comparing the system performance for each colored ball and understanding sensor parameter changes.

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Fig. 9. Square wave tracking and real-time amplitude and frequency modification.

The developed setup allows the students to easily save any signal available in the Simulink diagram in MATLAB for later use, such as plotting as shown in Fig. 7(b). The students can be introduced to the use of the MATLAB System Identification Toolbox and then can perform system identification using collected experimental data and to compare the theoretical and experimental transfer functions. The students can be required to identify the sources of error and the reasons for the differences between the two transfer functions. The developed environment was used for the first time in teaching an Introductory Controls course. The students were excited to have access to real hardware to evaluate their controller designs, acquire data, and perform system identification. Also, the students indicated that they could do all their work using only one software package, allowing them to familiarize themselves with the software and devote more time in understanding and learning the controls-related material rather than learning different software packages. V. CONCLUSION An interactive real-time digital control system has been developed, implemented, and demonstrated for educational purposes for modeling and controls courses. This environment was

implemented using off-the-shelf components, such as standard personal computers and data acquisition cards. The host-target real-time environment was implemented using the xPC Target and other software tools from MathWorks in addition to a C++ compiler. Some limitations of the xPC Target toolbox were observed. The host-target environment provides for the implementation of control algorithms using Simulink blocks and allows for interactive real-time system monitoring. The interactive feature is useful in an educational environment. A digital lead-lag controller was implemented using standard Simulink blocks. All system parameters, such as controller gains, and reference inputs, can be viewed and modified dynamically; their effects can be observed on the HIL without having to rebuild and download the new model to the target computer. The data for any signal available in the Simulink diagram or interfaced on the DAQ card can be observed and saved in MATLAB format for later use. Another advantage of using MATLAB-based tools is the ability to verify the controller operation before switching to the actual HIL. Simulations are performed to verify the designed controller operation by using a block for the transfer function of the plant. Then, the plant transfer function block is removed and substituted with blocks that correspond to the DAQ card in

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the target computer, and the appropriate channels are accessed. The use of a single environment for both Simulation and HIL control provides for quick experimentation and performance comparison between real and simulated systems. The ease of implementing the lead-lag controller allows the students to focus on the task of understanding, developing, and testing control algorithms as comparing to learning and writing low-level control code in other software packages. The use of the developed environment for teaching an Introductory Controls course in this department excited the students. REFERENCES
[1] [2] [3] [4] [5] [6] [7] [8] Using MATLAB, MathWorks, Inc., MA, 1999. Using Simulink, MathWorks, Inc., MA, 1999. Real Time Workshop Users Guide, MathWorks, Inc., MA, 1999. xPC Target Users Guide, MathWorks, Inc., MA, 1999. A. W. Stylo and G. Diana, An advanced real-time rese and teaching tool for the design and analysis of control, in IEEE Africon, vol. 1, 1999, pp. 511516. A. Barazzouk, A. Cheriti, and V. Rajagopalan, Real-time implementation of a rotor time-constant online estimation scheme, Proc. 25th Ann. Conf. IEEE, vol. 2, pp. 927932, 1999. S. A. Green, R. S. Hirsch, and K. C. Craig, Magnetic levitation device as teaching aid for mechatronics at rensselaer, in Proc. ASME IMECE Dynam. Syst. Contr. Division, 1995. A. M. Mohamed, B. Vestgaard, and I. Busch-Vishniac, Real-time imcontroller for a 2-DOF magnetic microplementation of a robust levitation positioner, ASME J. Dynam. Syst., Measure., Contr., vol. 117, pp. 637640, Dec. 1995. J. Tang, Real-time DC motor control using the MATLAB interfaced TMS320C31 digital signal processing starter kit (DSK), in IEEE 1999 Int. Conf. Power Electronics and Drive Systems, PEDS99, Hong Kong, 1999, pp. 321326. D. Cho, Y. Kato, and D. Spilman, Sliding mode and classical control of magnetic levitation system, IEEE Contr. Syst. Mag., vol. 13, pp. 4248, Feb 1993. M. Lairi and G. Bloch, A neural network with minimal structure for maglev system modeling and control, in IEEE Int. Symp. Intell. Control/Intelligent Syst. Semiotics, Sept. 1999, pp. 4045. (2000, Mar. 15). [Online]. Available: http://www.quanser.com

[13] (2000, Mar. 15). [Online]. Available: http://www.ecpsystems.com [14] (2000, Mar. 15). [Online]. Available: http:///www.dspaceinc.com [15] 6023E/6024E/6025E Families of DAQ Cards, National Instruments, Austin, TX, 2000. [16] (2002, March). [Online]. Available: http://www.mathworks.com/access/helpdesk/help/toolbox/xpc/xpc.shtml [17] K. Craig, T. Kurfess, and M. Nagurka, Magnetic levitation testbed for controls education, in Proc. ASME, Dynamic Systems and Control Division, 1998. [18] F. Zhang and K. Suyama, control of magnetic suspension system, Proc. Third IEEE Conf. Control Applications, vol. 1, pp. 605610, 1994. [19] D. Piyabongkarn, Digital control of a magnetic levitation system through xPC-target real-time operating system: Classical, feedforward and artificial neural network, Masters thesis, University of Texas, Arlington, 2000. [20] S. A. Green and K. C. Craig, Robust, digital, nonlinear control of magnetic-levitation system, Trans. ASME, vol. 120, no. 4, pp. 488495, Dec. 1998.

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Panayiotis S. Shiakolas (M02) was born in Nicosia, Cyprus. He received the B.S. and M.S. degrees in mechanical engineering from the University of Texas, Austin, in 1986 and 1988, respectively, and the Ph.D. degree in 1992 from the University of Texas, Arlington. He joined the Mechanical and Aerospace Engineering Department of the University of Texas at Arlington in 1996 and is currently an Assistant Professor. His research interests include robotics, manufacturing process automation, controls, and engineering education. He is currently expanding his research interests to include the manufacturing of biomicroelectromechanical systems (BioMEMS). Dr. Shiakolas is a Member of ASME and SME.

[9]

[10] [11] [12]

Damrongrit Piyabongkarn received the B.Eng. degree in mechanical engineering from Chulalongkorn University, Bangkok, Thailand, in May 1996 and the M.S. degree in mechanical engineering from the University of Texas at Arlington in 2000. He is currently pursuing the Ph.D. degree in mechanical engineering at the University of Minnesota-Twin Cities. His dissertation is titled Development of a MEMS gyroscope for absolute angle measurement. His research interests include advanced controls, microelectromechanical systems, microgyroscopes, signal processing, and artificial neural networks.