Design and Validation of Digital Controllers for Hydraulics Systems

Pontus Boström, Matti Linjama, Lionel Morel, Lauri Siivonen, Marina Walden

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In order to increase the flexibility and performance of hydraulically actuated machines there is a demand for more intelligent controllers. This leads to a rapid increase in complexity of the control systems. To manage the complexity and to ensure reliability of these systems, adequate software development methods are needed. In this work, we propose a methodology for structured design of digital hydraulics controllers in Simulink/Stateflow. A model architecture based on mode-automata is introduced to separate control and data processing. Furthermore, design by contract is advocated as a method for system development. The contracts can be used to mathematically reason about correctness of Simulink/Stateflow models and thereby increase the safety and reliability of the developed systems. The usefulness of these concepts are demonstrated on a larger case study from the area of digital hydraulics.
Original languageEnglish
PublisherTurku Centre for Computer Science (TUCS)
ISBN (Print)978-952-12-1842-2
Publication statusPublished - 2006
MoE publication typeD4 Published development or research report or study

Publication series

NameTUCS Technical Report
ISSN (Print)1239-1891


  • Controller Architecture
  • Mode-Automata
  • Simulink/Stateflow
  • Design by Contract
  • Reliability


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