<p>U tezi je analizirana opravdanost primene FPGA tehnologije za razvoj upravljačkog sistema za linearne aktuatore. Realizovan je upravljački sistem za servo upravljanje linearnim pneumatskim aktuatorom, čiji rad je eksperimentalno proveren. Razvijeni su i algoritmi za detekciju opterećenosti aktuatora, kao i za detekciju prepreke na nepoznatoj poziciji korišćenjem metode analize promene pritiska u komorama pneumatskog cilindra.</p> / <p>This thesis discusses the possibilities of FPGA technology application in<br />the development of a control system for linear actuators. A control system<br />for servo control of linear pneumatic actuators was realized, and<br />experimentally tested. Furthermore, algorithms were developed for<br />detection of actuator load, as well as for detection of an obstacle in<br />unknown position, by analysing pressure change in the pneumatic<br />cylinder chambers.</p>

In this thesis, novel implementation methods for FPGA based real-time motion control systems are investigated. These methods are examined for conventional and modern controller topologies as well as peripheral device interfaces which are mutually essential pieces of a motion controller. The developed methods are initially tested one by one to assess the performance of the individual design / and finally an assembled solution is developed to test the overall design. Tests of the overall design are realized via hardware-in-the-loop simulation of a real-world control problem, selected as a CNC machining center. The developed methods are discussed in terms of their success, resource consumptions and attainable sampling rates.