We have until this point, developed the theory and algorithms to achieve high performance control systems. How then do we put the theory into practice? In this chapter, we will examine real-time implementation and issues in the industrial context. In particular we will discuss using discrete-time methods in a continuous-time setting, the hardware requirement for various applications, the software development environment and issues such as sensor saturation and finite word length effects. Of course, just as control algorithms and theory develop, so does implementations technology. Here we focus on the principles behind current trends, and illustrate with examples which are contemporary at the time of writing.
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