Implementation of a reconfigurable hard real-time control system for mechatronic and automotive applications

Control algorithms implemented directly in hardware take advantage of parallel signal processing. Furthermore, implementing controller functionality in reconfigurable hardware facilitates modification of controller structure and parameters during run-time. In this paper, we introduce an implemented and tested reconfigurable hard real-time control system based on an FPGA device. It supports dynamic partial reconfiguration of controller functionality by self-reconfiguration mechanisms. Self-reconfiguration is performed using an internal configuration interface. We also present sophisticated on-chip and off-chip communication solutions. Specification of controller functionality involves finite state machines (FSMs) and comprises parts of the distributed communication and reconfiguration solution