Description of a Modeling, Simulation, Animation, and Real-Time Control (MoSART) environment for a broad class of dynamical systems

Armando Rodriguez, Oguzhan Cifdaloz, Mariano Phielipp, Jeff Dickeson, Paul Koziol, David Miles, Miguel Garcia, Robert McCullen, Jerald Willis, Jose Benavides

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations


This paper describes an Interactive Modeling, Simulation, Animation, and Real-Time Control (MoSART) Environment that is useful for controls education and research. The described MoSART Environment is shown to be useful for analyzing, designing, visualizing, and evaluating control systems for a broad class of dynamical systems which include: a collection of pendulum/robotic systems, aircraft, helicopters, and other six degree-of-freedom systems. The environment - referred to as Control3D-Lab l - is based on Microsoft Windows, Visual C++, Direct-3D, and MATLAB/Simulink2. The environment can be used as a stand-alone application or together with MATLAB, Simulink, and toolboxes. When used as a standalone application, a friendly graphical user interface permits easy interaction. Users may select (via pull-down menus): systems, dynamical models, control laws, exogenous signals (including joystick inputs) and associated parameters, initial conditions, integration routines and associated parameters. When used with MATLAB, Simulink, and toolboxes,the above nominal features are significantly enhanced. In either case, the interface permits users to access the following (via pulldown menus): animation models, mesh properties, texture and lighting models, system-specific visual indicators, graphics to be displayed, animation/data display/storage rates, simulation control buttons, and extensive documentation. When Simulink is present, users can exploit extensive visualization and 3D animation features through provided and/or user-generated Simulink diagrams. This capability makes the developed environment very extensible with respect to mathematical models and control laws. Additionally, users may readily export simulation data to MATLAB/toolboxes for post-processing and further analysis. The environment also contains a suite of well documented (easy-to-modify) models and control laws that are implemented within the provided Simulink block diagrams. Provided (special) blocks enable animation, joystick inputs, and (near) real-time simulation and animation (when possible)3. Associated with each block diagram are system-specific, menuaccessed m-files that permit detailed analysis and design. A hardware module permits real-time control of actual hardware experiments. The developed environment is shown to be a valuable tool for enhancing both controls education in a variety of classes as well as research. Examples are presented to illustrate the utility of the environment.

Original languageEnglish (US)
Title of host publicationProceedings of the 45th IEEE Conference on Decision and Control 2006, CDC
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Print)1424401712, 9781424401710
StatePublished - 2006
Event45th IEEE Conference on Decision and Control 2006, CDC - San Diego, CA, United States
Duration: Dec 13 2006Dec 15 2006

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370


Other45th IEEE Conference on Decision and Control 2006, CDC
Country/TerritoryUnited States
CitySan Diego, CA

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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