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Flight Gear open source flight simulator and Gauges Block Set are deployed in order to get visual outputs that aid the designer in the evaluation of the controllers.
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b For the sake of simplicity, in this paper, we abstract away from system goals, which are not required to deal with robustness evaluation of the controller.
This holds in general, as evaluation of the controller happens at a higher rate than reception of input through the wireless medium.
Both, set-point changes and disturbance effects were applied on the process for comprehensive evaluation of the controller performance.
While the focus of this paper was the evaluation of the controller, there is also the need for considering the self-adaptive system in its entirety, and this would inevitably lead to new challenges, such as the necessity to consider the full state of the target system when evaluating the robustness of the entire system, i.e. the controller plus the target system.
Performance evaluation of the controller is carried out in a simplified model version of a benchmark building system, which is recognized as a state-of-the-art model for numerical experiments of structures under seismic perturbations.
Detailed evaluations of the controller's performance based on pre-defined performance indices under several conditions are presented.
A performance evaluation of the two controllers is done in order to quantify the accuracy of the simulated motion and the control torques needed when using one or the other control approach to track a known human walking pattern.
The tuning of the PI parameters and the performance evaluation of the different controllers are based on a non-linear simulation model.
Finally, the optimization of controller parameters and robustness evaluation of the control technique is done on the basis of the integral error criterion.
Clock cycle taken per process (CCTPP): In order to make the performance evaluation of the proposed controller independent of system clock and other system specific parameters, we have described the performance of the controller in terms of clock cycles.
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