Parallel Model-based Control Law for Industrial Cyber-Physical System

The paper deals with developing backgrounds to implement continuous and discrete time control laws in a parallel way. These backgrounds are based on the partial fraction decomposition of the controller transfer function. One can use any of the known control methods design to define the controller transfer function. We consider linear controller design in our paper to show the benefits of our approach in the simplest from a control theory viewpoint way. But this approach can be used to operate with the more complex nonlinear or variable-structure control systems as well. The main requirement of its use is the possibility to define the controller transfer function and its eigenvalues. We use these eigenvalues to determine the simplest parallel parts of a controller transfer function which can be implemented in a parallel way by using multicore CPU, MCU, or FPGA. The benefits of our approach are proved by considering the example of control system design and transforming its controller to a parallel form.