Cyber-Physical System Implementation into the Distributed Control System

The purpose of this paper is to present the Single inverted pendulum laboratory model with LSM as a cyber-physical system (CPS). The implementation of the model application into the Distributed Control System infrastructure at the DCAI, FEEI, TU is first described. Pre-prepared program modules from the custom Simulink library Inverted Pendula Modeling and Control, developed by the authors of this paper, are used in subsequent modeling and control design. The contribution to the simulation model level of the DCS infrastructure is described in detail - the nonlinear mathematical model obtained from the library is modified to include the velocity loop, and the necessary parameters are obtained via experimental identification. Finally, a control strategy based on a hybrid control structure is designed and swing-up/stabilizing control algorithms are verified on the laboratory model.