R-TICS: a real-time infrastructure for control systems

This paper describes the design and implementation of R-TICS (Real-Time Infrastructure for Control Systems). R-TICS enables the rapid development and modification of periodic and event-driven real-time control systems. Built on top of the RT Mach operating system, R-TICS takes care of the low-level details such as data acquisition, inter-task communication, memory management, and task scheduling. This allows the developer to focus on application control system tasks. Finally, this paper illustrates how R-TICS is used on the inverted pendulum system.<
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