Complex control system design and implementation using the NIST-RCS software library

Due to demands for higher levels of automation from systems, the use of hierarchical and distributed control systems that integrate estimation, prediction, control, fault tolerance, adaptation, learning, etc., into one framework is becoming widespread. Specific applications that use complex control of this sort include robots, manufacturing and automation systems, automated highway systems (AHS), and other intelligent vehicles. Here, we study the use of the Real-Time Control System (RCS) software library, developed by the Intelligent Systems Division (ISD) at the National Institute of Standards and Technology (NIST) for the design and implementation of such complex control systems. We examine the theory behind both the development and implementation, and provide a physical implementation example (a process control problem) and a conceptual example of how to use RCS in the design of a hierarchical controller for an AHS.