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Implementation of a Phase Lead Controller on an FPGA Target

The purpose of this paper is the implementation of a digital phase lead controller on an FPGA Xilinx target XC2s300E. Two identical digital controllers are integrated in two visual servoing which are intended to ensure the angular positioning of a CCD camera according to two degrees of freedom named pan and tilt. This camera constitutes the sensor of an indirect visual servoing. The digital phase lead controllers uses a quadratic structure. The main focus of the work presented in this paper, lies in the implementation of the VHDL programming technique which uses a library of functions not standardized to date. The parameters of the recurrence equation associated to the quadratic structure are coded with twelve bits in fixed point format and can be easily modified