A case study in distributed control - Elastically interconnected seesaw-cart systems.

As the main contribution of the paper, we present a network of electro-mechanical systems as a suitable platform for education, testing and verification of real-life implementation of decentralised and distributed control solutions. The overall system (network) consists of a set of elastically interconnected seesaw-chart systems. Additionally, suitable, control oriented, structured model of the system's dynamics is derived and presented. Results of a case study in distributed control are presented, together with comparison with achievable centralized control behaviour.