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DSSynth: An Automated Controller Synthesis Tool for Physical Plants via MATLAB Toolbox

Benchmarks Results.

** Experimental Setup: **

The experiments were executed in a computer with the following hardware configurations: Intel Core i7-2600 3.40 GHz processor, 24 GB of RAM, and Ubuntu 64-bits OS. The experiments used the Linux times command to measure CPU time used for each benchmark. The runtime was limited to one hour (i.e., 3600s).

** Benchmarks Description: **

**Transfer-Function Benchmark:**

The first set of benchmarks uses the discrete model of a **cruise control** system for a car, and accounts for rolling friction, aerodynamic drag, and the gravitational disturbance force.

The second set of benchmarks considers the discrete model of a simple **spring-mass damper** plant.

A third set of benchmarks uses the discrete model for **satellite** attitude dynamics, which require attitude control for orientation of antennas and sensors w.r.t. Earth.

The fourth and fifth set of benchmarks describe the discrete model of a **DC servo motor** velocity dynamics.

The sixth set of benchmarks contains a well-studied discrete **non-minimal phase** model. Non-minimal phase models cause additional difficulties for the design of stable controllers.

The seventh set of benchmarks describes the discrete model for the **Helicopter** Longitudinal Motion, which provides the longitudinal motion dynamics of a helicopter.

The eighth set of benchmarks contains the discrete model for the known **Inverted Pendulum**, which describes a pendulum dynamics with its center of mass above its pivot point.

The ninth set of benchmarks contains the **Magnetic Suspension** discrete model, which describes the dynamics of a mass that levitates with support only of a magnetic field.

The last set of benchmarks contains the **Computer Tape Driver** discrete model, which describes a system to read and write data on a storage device.

Reference: HSSC Publication, 2017

**State-Space Benchmark:**

A set of state-space models for different classes of systems was extracted from the literature and employed for validating our methodology.

A **DC Motor** Rate plants describes the angular velocity of a DC Motor, respectively.

The **Automotive Cruise System** plant represents the speed of a motor vehicle.

The **Helicopter Longitudinal Motion** plant provides the longitudinal motion model of a helicopter.

The **Inverted Pendulum** plant describes a pendulum model with its center of mass above its pivot point.

The **Magnetized Pointer** plant describes a physical model employed in analogue gauges and indicators that is rotated through interaction with magnetic fields.

The **1/4 Car Suspension** plant presents a physical model that connects a car to its wheels and allows relative motion between both parts.

The **Computer Tape Driver** plant describes a system to read and write data on a storage device in the computer.

Reference: CAV Publication, 2017

** Download DSSynth Toolbox at: ** Download Page .

** Scripts to run the DSSynth toolbox over the benchmarks: Benchmarks Scripts .**

** Synthesis Results: **

**Transfer-function Benchmark**Synthesis Results

**State-space Benchmark**Synthesis Results