The purpose of this thesis is to evaluate Rapid Control Prototyping which is apart of the Model-Based Design concept that makes it possible to convenientlytest prototype control algorithms directly on the real system. The evaluation ishere done by designing two different controllers, a gain-scheduled P controllerand a linear Model Predictive Controller (mpc), for the lowering of the forks of aforklift.The two controllers are first tested in a simulation environment. The thesis con-tains two different simulation models: one physical where only minor parameteradjustments are done and one estimated black-box model. After evaluating thecontrollers in a simulation environment they are tested on a real forklift with areal-time target machine.The designed controllers have different strengths and weaknesses as one is non-linear and single variable, the P controller, and the other linear and multivariable,thempc. The P controller has a smooth movement in all situations without be-ing slow, unlike thempc. The disadvantage of the P controller compared to thempcis that there is no guarantee that the P controller will keep the speed limit,whereas thempcapproach gives such a guarantee.The better performance of the P controller outweighs the speed limit guaranteeand thus a conclusion is drawn that the nonlinearities of the system has a largereffect than the multivariable aspect. Also, another conclusion drawn is that work-ing with Model-Based Design and Rapid Control Prototyping makes it possibleto test many different ideas on a real forklift without spending a lot of time onimplementation. / Syftet med detta examensarbete är att utvärdera Rapid Control Prototyping vil-ket är en del av modellbaserad utveckling som gör det möjligt att enkelt testamodeller av styralgoritmer direkt på det riktiga systemet. Utvärderingen är gjordgenom att testa två olika regulatorer, en P-regulator med parameterstyrning ochen linjär modelbaserad prediktionsregulator (mpc), för sänkningen av gafflarnapå en truck.De två regulatorerna testas först i en simuleringsmiljö. I arbetet används två olikasimuleringsmodeller: en fysikalisk där endast mindre parameterjusteringar görsoch en estimerad black-box modell. Efter att regulatorerna utvärderas i simule-ringsmiljön testas de även på en riktig truck med hjälp av automatisk kodgenere-ring och exekvering på en dedikerad hårdvaruplattform.De konstruerade regulatorerna har olika för- och nackdelar eftersom en är olinjäroch envariabel, P-regulatorn, och en är linjär men flervariabel,mpc:n. P-regulatornhar en mjuk rörelse i alla lägen utan att bli för långsam, till skillnad frånmpc:n.Nackdelen med P-regulatorn, jämfört medmpc:n är att det inte finns någon ga-ranti för att P-regulatorn håller hastighetsbegränsningen sommpc:n gör.P-regulatorns bättre prestanda överväger garantin om att hålla hastighetsbegräns-ningen och därför dras slutsatsen att olinjäriteterna i systemet överväger effekter-na av det faktum att det också är flervariabelt. En annan slutsats är att modell-baserad utveckling och Rapid Control Prototyping gör det möjligt att testa fleraolika idéer på en riktig gaffeltruck utan att spendera för mycket tid på implemen-tationen.

Hardware-in-the-loop (HiL) is a concept for testing physical equipment by connecting itto a mathematical representation (model) of the physical process. HiL-testing reduces thecost and saves time before testing the physical equipment (hardware) on the real (physical)process. The physical process chosen for this study is wire+arc additive manufacturing(WAAM), an advanced additive manufacturing (AM) technology that deposits metalbased material layer-by-layer. In this study, simulations of the robot path are carried outwhile the physical robot performs a physical process (additive manufacturing). In robotadditive manufacturing, the desired CAD model is currently sliced down into layers usingslicer software, and the layers are then translated into a path. The robot then moves alongthe path of these pre-defined layers to produce a three-dimensional structure. The heightof the produced structures and desired CAD models have deviations because of processinstabilities and temperature variations among other factors. The robot path should beupdated every time a layer is printed to compensate for the height differences. This isachieved by parametrizing the CAD model, i.e., the CAD model of the structure to beprinted is replaced by a mathematical equation (model). In this study, the mathematicalmodel is updated for each layer in real-time with feedback data from sensors that monitorthe additive manufacturing process. The concept of updating a mathematical model andexecuting it in real-time is called real-time simulation (RTS). In this study, a HiL-basedreal-time simulation setup has been developed, which predicts the required printing layerheight and the number of layers (based upon the latest feedback data from the monitoringsensors), and the required height of the structure. By combining hardware and software,a cyber-physical system has been created, enabling the transition from automation toautonomous robotics and contributing to Industry 4.0.