Implementation of Embedded Controller using SoPC Technology

SoPC stands for system on a programmable chip, it was first coined by Synopsys to describe any system implemented using a programmable logic device (PLD) which contains a computation engine. In this paper, based on the DSP development kit, issued by Altera corp., an embedded controller for the rotary inverted pendulum system was implemented. The LQR control scheme is used to achieve pendulum rod balancing control, and the swing up controller adopts the energy-based control scheme. The key features of this SoPC methodology is based in combining the DSP builder toolbox into the MATLAB/Simulink environment, which achieves the goal of embedded control system fast prototype. The design flow has proved to be more effective in DSP/PLD application; it also is an easy-to-demo experimental apparatus for teaching or research purposes