MATLAB / Simulink

MathWorks' commercial numerical computing and graphical modeling-and-simulation software, widely used in controls.

MATLAB is commercial software from MathWorks that serves as both a programming language and a computing environment, strong at matrix operations, signal processing, and plotting. Simulink is its companion graphical tool, where dynamic systems are built by dragging blocks and wiring them together and then simulated; models can also be auto-converted into embedded C code and flashed onto a controller. In robotics, the pair is mainly used for control algorithm design: modeling a motor's current loop and field-oriented control, tuning PID gains, system identification (inferring a system's model from data), and arm kinematics, aided by toolboxes like Robotics System Toolbox and ROS Toolbox. Many controls and motor courses, and engineering teams generally, rely on it; researchers working on learning-based methods tend to use Python instead.

ExampleBuild a cascaded current-loop, velocity-loop, and position-loop model for a joint motor in Simulink, tune the PID gains, then generate C code and flash it to the driver board.

Also called

MATLAB, Simulink

Related

Proportional-Integral-Derivative Control · Field-Oriented Control · System Identification · Embedded Software Development · Model Predictive Control · Python and C++

Sources

MATLAB 产品页 (Chinese)
Simulink 产品页 (Chinese)