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Model-based Embedded Control using Rosenbrock Integration Methods

Directly generating controller code from models is 
important for advanced model-based design. This 
paper describes how Dymola can generate embedded 
C-code from Modelica models, designed to be easy to 
embed, with care about minimal foot-print, traceability, 
and straightforward integration in embedded platforms 
and gives actual application examples. 
The paper focuses on using Rosenbrock methods for 
index-1 problems (instead of the normal transformation 
to index 0) that allows Dymola to handle stiff systems 
in a way that both is theoretically sound and has an 
upper bound on the execution time per sample. 
The stiff systems in the control system often occur 
due to using an inverse (simplified) model of the real 
plant in the controller. A nonlinear feedforward 
controller and a controller with feedback linearization, 
both applying an inverse model, demonstrate the 
proposed process by using Rosenbrock methods for 
embedded code generation.