Cette thèse porte sur la commande non linéaire des systèmes mécaniques sous-actionnés, ces systèmes possédant moins d'actionneur que de degrés de liberté. La dynamique interne de ces systèmes est souvent instable ce qui les rend difficiles à commander et requiert des méthodes de commande spécifiques. La contribution de cette thèse est la proposition de deux approches de commandes originales dont le but est la génération de cycle limites stables sur toutes les coordonnées du système mécanique sous-actionné. La première approche de commande est basée sur la linéarisation partielle par retour d'état et l'optimisation de trajectoires de référence. La seconde approche est basée sur les travaux récents sur la commande sans modèle, une technique de commande qui permet de contrôler un système sans avoir besoin de modèle mathématique préalable de sa dynamique. Ces deux approches de commande sont appliquées à un système mécanique sous-actionné particulier: le pendule inversé stabilisé par roue d'inertie. Plusieurs scénarios sont proposés, à la fois en simulation numérique et en temps-réel sur une plate-forme expérimentale. Les résultats obtenus attestent de la capacité des contrôleurs proposés à stabiliser le système autour de cycles limites stables en dépit de la présence de perturbations externes. / This thesis is focused on non linear control of underactuated mechanical systems, thoses systems with less actuators than degrees of freedom. The internal dynamics of such system is often unstable making them particulary difficult to control. Thus specific care must be taken when designing controlers for such systems. The main contribution of this thesis is the design of two new control schemes for stable limit cycles generation on all coordinates of underactuated mechanical systems. First control approach is based on partial feedback linearization and reference trajectories optimization. Second approach is based on recent work on model free control,a control scheme which doesn't require prior mathematicalmodel of the controlled system dynamics. The proposed approaches are applied to an inertiawheel inverted pendulumtestbed. Several experimental scenarios are proposed, both in numerical simulation and in realtime implementation. Obtained results demonstrate the ability of both controllers to stabilize the system around stable limit cycles and to reject external disturbances.

La voiture autonome pourrait réduire le nombre de morts et de blessés sur les routes tout en améliorant l'efficacité du trafic. Cependant, afin d'assurer leur déploiement en masse sur les routes ouvertes au public, leur sécurité doit être garantie en toutes circonstances. Cette thèse traite de l'architecture de planification et de contrôle pour la conduite automatisée et défend l'idée que l'intention du véhicule doit correspondre aux actions réalisées afin de garantir la sécurité à tout moment. Pour cela, la faisabilité cinématique et dynamique de la trajectoire de référence doit être assurée. Sinon, le contrôleur, aveugle aux obstacles, n'est pas capable de la suivre, entraînant un danger pour la voiture elle-même et les autres usagers de la route. L'architecture proposée repose sur la commande à modèle prédictif fondée sur un modèle bicyclette cinématique afin de planifier des trajectoires de référence sûres. La faisabilité de la trajectoire de référence est assurée en ajoutant une contrainte dynamique sur l'angle au volant, contrainte issue de ces travaux, afin d'assurer que le modèle bicyclette cinématique reste valide. Plusieurs contrôleurs à haute-fréquence sont ensuite comparés afin de souligner leurs avantages et inconvénients. Enfin, quelques résultats préliminaires sur les contrôleurs à base de commande sans modèle et leur application au contrôle automobile sont présentés. En particulier, une méthode efficace pour ajuster les paramètres est proposée et implémentée avec succès sur la voiture expérimentale de l'ENSIAME en partenariat avec le laboratoire LAMIH de Valenciennes. / Autonomous vehicles are believed to reduce the number of deaths and casualties on the roads while improving the traffic efficiency. However, before their mass deployment on open public roads, their safety must be guaranteed at all time.Therefore, this thesis deals with the motion planning and control architecture for autonomous vehicles and claims that the intention of the vehicle must match with its actual actions. For that purpose, the kinematic and dynamic feasibility of the reference trajectory should be ensured. Otherwise, the controller which is blind to obstacles is unable to track it, setting the ego-vehicle and other traffic participants in jeopardy. The proposed architecture uses Model Predictive Control based on a kinematic bicycle model for planning safe reference trajectories. Its feasibility is ensured by adding a dynamic constraint on the steering angle which has been derived in this work in order to ensure the validity of the kinematic bicycle model. Several high-frequency controllers are then compared and their assets and drawbacks are highlighted. Finally, some preliminary work on model-free controllers and their application to automotive control are presented. In particular, an efficient tuning method is proposed and implemented successfully on the experimental vehicle of ENSIAME in collaboration with the laboratory LAMIH of Valenciennes.

Made available in DSpace on 2014-12-17T15:42:27Z (GMT). No. of bitstreams: 1 AlineAAO_TESE.pdf: 3075922 bytes, checksum: bd3bdc6aafacdcbe05784c0fbe751097 (MD5) Previous issue date: 2013-08-09 / The mesoporous nanostructured materials have been studied for application in the oil industry, in particular Al-MCM-41, due to the surface area around 800 to 1.000 m2 g-1 and, pore diameters ranging from 2 to 10 nm, suitable for catalysis to large molecules such as heavy oil. The MCM-41 has been synthesized by hydrothermal method, on which aluminum was added, in the ratio Si/Al equal to 50, to increase the generation of active acid sites in the nanotubes. The catalyst was characterized by X-ray diffraction (XRD), surface area by the BET method and, the average pore volume BJH method using the N2 adsorption, absorption spectroscopy in the infrared Fourier Transform (FT-IR) and determination of surface acidity with application of a probe molecule - n-butylamine. The catalyst showed well-defined structural properties and consistent with the literature. The overall objective was to test the Al-MCM-41 as catalyst and thermogravimetric perform tests, using two samples of heavy oil with API ? equal to 14.0 and 18.5. Assays were performed using a temperature range of 30-900 ? C and heating ratios (β) ranging from 5, 10 and 20 ?C min-1.The aim was to verify the thermogravimetric profiles of these oils when subjected to the action of the catalyst Al- MCM-41. Therefore, the percentage ranged catalyst applied 1, 3, 5, 10 and 20 wt%, and from the TG data were applied two different kinetic models: Ozawa-Flynn-Wall (OFW) and Kissinger-Akahrira-Sunose (KAS).The apparent activation energies found for both models had similar values and were lower for the second event of mass loss known as cracking zone, indicating a more effective performance of Al-MCM-41 in that area. Furthermore, there was a more pronounced reduction in the value of activation energy for between 10 and 20% by weight of the oil-catalyst mixture. It was concluded that the Al-MCM-41 catalyst has applicability in heavy oils to reduce the apparent activation energy of a catalyst-oil system, and the best result with 20% by weight of Al-MCM-41 / Os materiais mesoporosos nanoestruturados vem sendo estudados para aplica??o na ind?stria do petr?leo, em especial o Al-MCM-41, devido ? ?rea superficial em torno de 800-1000 m2g-1 e di?metro de poros variando de 2 a 10 nm, adequado para cat?lise de mol?culas grandes como petr?leos pesados. O MCM-41 foi sintetizado pelo m?todo hidrot?rmico, o qual foi adicionado Alum?nio numa propor??o Si/Al igual ? 50, a fim de aumentar a gera??o de s?tios ?cidos ativos nos nanotubos. O catalisador foi caracterizado por difra??o de Raios-X (DRX), ?rea superficial pelo m?todo BET e volume m?dio de poros pelo m?todo BJH atrav?s da adsor??o de N2, espectroscopia de absor??o na regi?o do infravermelho por Transformada de Fourier (FT-IR) e determina??o da acidez superficial com aplica??o de uma mol?cula sonda nbutilamina. O catalisador apresentou propriedades estruturais bem definidas e coerentes com a literatura. O objetivo geral foi testar o Al-MCM-41 como catalisador e realizar ensaios termogravim?tricos, utilizando duas amostras de petr?leo pesado com ?API iguais ? 14,0 e 18,5. Os ensaios foram realizados usando uma faixa de temperatura de 30 900?C, e raz?es de aquecimento (β) variando de 5, 10 e 20 ?Cmin-1. O intuito era verificar os perfis termogravim?tricos destes petr?leos quando submetidos ? a??o do catalisador Al-MCM-41. Para tanto, variou-se o percentual de catalisador aplicado in situ: 1, 3, 5, 10 e 20% em massa e, a partir dos dados termogravim?tricos foram aplicados dois modelos cin?ticos diferentes: Ozawa-Flynn-Wall (OFW) e Kissinger- Akahrira-Sunose (KAS). As energias de ativa??o aparente encontradas para ambos os modelos tinham valores semelhantes e eram menores para o segundo evento de perda de massa conhecido como zona de craqueamento, indicando uma atua??o mais efetiva do Al-MCM-41 nessa zona. Al?m disso, constatou-se uma diminui??o mais acentuada no valor das energias de ativa??o para valores entre 10 e 20% em massa da mistura catalisador-?leo. Concluiu-se que o Al-MCM-41 possui aplicabilidade catal?tica em petr?leos pesados diminuindo a energia de ativa??o aparente de um sistema catalisador?leo, sendo o melhor resultado com 20% em massa de Al-MCM-41

Hydraulic systems are widely applied in industry for position or force control. However, due to hydraulic system nonlinearities, it is difficult to achieve a precise model valid over a large range of frequencies and movements. The work in this dissertation focuses on a high performance hydraulic test bench which involves three main hydraulic components, i.e. two high performance servovalves, a double rod actuator, and a specific intermediate block connecting the servovalves and actuator. This rig has been designed for testing aerospace or automotive components in real conditions (e.g. wear and ageing effects). The main objectives of this dissertation are first the development of a virtual prototype based on a precise model which is derived from the physical principles and experimental works, and then second the synthesis of several nonlinear control laws of this actuation system in a large operating range with a good robustness to the perturbations. The proposed model based on Bond Graph shows a very good agreement with experimental results not only at low frequencies, but also at high frequencies. Moreover, its performances are improved at high frequencies by introducing the dynamic effects due to the intermediate block. Besides, multivariable and monovariable control strategies, based on respectively the backstepping and the model-free method, are developed and implemented on the test bench. All the control strategies proposed have been validated by simulations and experiments. Results show they lead to better tracking precision and robustness performance compared to the conventional control techniques.

Abstract : Over the past three decades, various fields have witnessed a successful application of active magnetic bearing (AMB) systems. Their favorable features include supporting high-speed rotation, low power consumption, and rotor dynamics control. Although their losses are much lower than roller bearings, these losses could limit the operation in some applications such as flywheel energy storage systems and vacuum applications. Many researchers focused their efforts on boosting magnetic bearings energy efficiency via minimizing currents supplied to electromagnetic coils either by a software solution or a hardware solution. According to a previous study, we adopt the hardware solution in this thesis. More specifically, we investigate developing an efficient and yet simple control scheme for regulating a permanent magnet-biased active magnetic bearing system. The control objective here is to suppress the rotor vibrations and reduce the corresponding control currents as possible throughout a wide operating range. Although adopting the hardware approach could achieve an energy-efficient AMB, employing an advanced control scheme could achieve a further reduction in power consumption. Many advanced control techniques have been proposed in the literature to achieve a satisfactory performance. However, the complexity of the majority of control schemes and the potential requirement of powerful platform could discourage their application in practice. The motivation behind this work is to improve the closed-loop performance without the need to do model identification and following the conventional procedure for developing a model-based controller. Here, we propose applying the hybridization concept to exploit the classical PID control and some nonlinear control tools such as first- and second-order sliding mode control, high gain observer, backstepping, and adaptive techniques to develop efficient and practical control schemes. All developed control schemes in this thesis are digitally implemented and validated on the eZdsp F2812 control board. Therefore, the applicability of the proposed model-free techniques for practical application is demonstrated. Furthermore, some of the proposed control schemes successfully achieve a good compromise between the objectives of rotor vibration attenuation and control currents minimization over a wide operating range. / Résumé: Au cours des trois dernières décennies, divers domaines ont connu une application réussie des systèmes de paliers magnétiques actifs (PMA). Leurs caractéristiques favorables comprennent une capacité de rotation à grande vitesse, une faible consommation d'énergie, et le contrôle de la dynamique du rotor. Bien que leurs pertes soient beaucoup plus basses que les roulements à rouleaux, ces pertes pourraient limiter l'opération dans certaines applications telles que les systèmes de stockage d'énergie à volant d'inertie et les applications sous vide. De nombreux chercheurs ont concentré leurs efforts sur le renforcement de l'efficacité énergétique des paliers magnétiques par la minimisation des courants fournis aux bobines électromagnétiques soit par une solution logicielle, soit par une solution matérielle. Selon une étude précédente, nous adoptons la solution matérielle dans cette thèse. Plus précisément, nous étudions le développement d'un système de contrôle efficace et simple pour réguler un système de palier magnétique actif à aimant permanent polarisé. L'objectif de contrôle ici est de supprimer les vibrations du rotor et de réduire les courants de commande correspondants autant que possible tout au long d'une large plage de fonctionnement. Bien que l'adoption de l'approche matérielle pourrait atteindre un PMA économe en énergie, un système de contrôle avancé pourrait parvenir à une réduction supplémentaire de la consommation d'énergie. De nombreuses techniques de contrôle avancées ont été proposées dans la littérature pour obtenir une performance satisfaisante. Cependant, la complexité de la majorité des systèmes de contrôle et l'exigence potentielle d’une plate-forme puissante pourrait décourager leur application dans la pratique. La motivation derrière ce travail est d'améliorer les performances en boucle fermée, sans la nécessité de procéder à l'identification du modèle et en suivant la procédure classique pour développer un contrôleur basé sur un modèle. Ici, nous proposons l'application du concept d'hybridation pour exploiter le contrôle PID classique et certains outils de contrôle non linéaires tels que contrôle par mode glissement du premier et du second ordre, observateur à grand gain, backstepping et techniques adaptatives pour développer des systèmes de contrôle efficaces et pratiques. Tous les systèmes de contrôle développés dans cette thèse sont numériquement mis en oeuvre et évaluées sur la carte de contrôle eZdsp F2812. Par conséquent, l'applicabilité des techniques de modèle libre proposé pour l'application pratique est démontrée. En outre, certains des régimes de contrôle proposés ont réalisé avec succès un bon compromis entre les objectifs au rotor d’atténuation des vibrations et la minimisation des courants de commande sur une grande plage de fonctionnement.

La première partie de la thèse est consacrée à la commande avec contraintes de systèmes différentiellement plats. Deux types de systèmes sont étudiés : les systèmes non linéaires de dimension finie et les systèmes linéaires à retards. Nous présentons une approche unifiée pour intégrer les contraintes d'entrée/état/sortie dans la planification des trajectoires. Pour cela, nous spécialisons les sorties plates (ou les trajectoires de référence) sous forme de courbes de Bézier. En utilisant la propriété de platitude, les entrées/états du système peuvent être exprimés sous la forme d'une combinaison de sorties plates (courbes de Bézier) et de leurs dérivées. Par conséquent, nous obtenons explicitement les expressions des points de contrôle des courbes de Bézier d'entrées/états comme une combinaison des points de contrôle des sorties plates. En appliquant les contraintes souhaitées à ces derniers points de contrôle, nous trouvons les régions faisables pour les points de contrôle de Bézier de sortie, c'est-à-dire un ensemble de trajectoires de référence faisables. Ce cadre permet d’éviter le recours, en général fort coûteux d’un point de vue informatique, aux schémas d’optimisation. Pour résoudre les incertitudes liées à l'imprécision de l'identification et modélisation des modèles et les perturbations, nous utilisons la commande sans modèle (Model Free Control-MFC) et dans la deuxième partie de la thèse, nous présentons deux applications démontrant l'efficacité de notre approche : 1. Nous proposons une conception de contrôleur qui évite les procédures d'identification du système du quadrotor tout en restant robuste par rapport aux perturbations endogènes (la performance de contrôle est indépendante de tout changement de masse, inertie, effets gyroscopiques ou aérodynamiques) et aux perturbations exogènes (vent, bruit de mesure). Pour atteindre notre objectif en se basant sur la structure en cascade d'un quadrotor, nous divisons le système en deux sous-systèmes de position et d'attitude contrôlés chacun indépendamment par la commande sans modèle de deuxième ordre dynamique. Nous validons notre approche de contrôle avec trois scénarios réalistes : en présence d'un bruit inconnu, en présence d’un vent variant dans le temps et en présence des variations inconnues de masse, tout en suivant des manœuvres agressives. 2. Nous utilisons la commande sans modèle et les correcteurs « intelligents » associés, pour contrôler (maintenir) l'élasticité horizontale d'un système de Cloud Computing. Comparée aux algorithmes commerciaux d’Auto-Scaling, notre approche facilement implémentable se comporte mieux, même avec de fluctuations aigües de charge. Ceci est confirmé par des expériences sur le cloud public Amazon Web Services (AWS). / The first part of the thesis is devoted to the control of differentially flat systems with constraints. Two types of systems are studied: non-linear finite dimensional systems and linear time-delay systems. We present an approach to embed the input/state/output constraints in a unified manner into the trajectory design for differentially flat systems. To that purpose, we specialize the flat outputs (or the reference trajectories) as Bézier curves. Using the flatness property, the system’s inputs/states can be expressed as a combination of Bézier curved flat outputs and their derivatives. Consequently, we explicitly obtain the expressions of the control points of the inputs/states Bézier curves as a combination of the control points of the flat outputs. By applying desired constraints to the latter control points, we find the feasible regions for the output Bézier control points i.e. a set of feasible reference trajectories. This framework avoids the use of generally high computing cost optimization schemes.    To resolve the uncertainties arising from imprecise model identification and the unknown pertubations, we employ the Model-Free Control (MFC) and in the second part of the thesis we present two applications demonstrating the effectiveness of our approach: 1. We propose a controller design that avoids the quadrotor’s system identification procedures while staying robust with respect to the endogenous (the control performance is independent of any mass change, inertia, gyroscopic or aerodynamic effects) and exogenous disturbances (wind, measurement noise). To reach our goal, based on the cascaded structure of a quadrotor, we divide the system into positional and attitude subsystems each controlled by an independent Model-Free controller of second order dynamics. We validate our control approach in three realistic scenarios: in presence of unknown measurement noise, with unknown time-varying wind disturbances and mass variation while tracking aggressive manoeuvres. 2. We employ the Model-Free Control to control (maintain) the “horizontal elasticity” of a Cloud Computing system. When compared to the commercial “Auto-Scaling” algorithms, our easily implementable approach behaves better, even with sharp workload fluctuations. This is confirmed by experiments on the Amazon Web Services (AWS) public cloud.

L’objectif de cette thèse concerne l’allocation des canaux fréquentiels dans les réseaux ad hoc organisés en clusters. Les terminaux du réseau sont assemblés localement en clusters afin de garder les avantages des réseaux ad hoc tout en réduisant la quantité de signalisation nécessaire à son fonctionnement. Dans chaque cluster, un chef de cluster (CH en anglais) est désigné parmi les terminaux dont le rôle est de gérer localement les ressources ainsi que les communications. Un des problèmes concerne l'allocation des bandes de fréquence de manière distribuée à chaque cluster pour leur permettre d'opérer correctement. Les fréquences sont une ressource rare ce qui implique que plusieurs clusters sont amenés à utiliser les mêmes et donc à interférer entre eux. Le CH base ses décisions sur une fonction d'utilité qui prend en compte des mesures de performance des communications. Ces dernières peuvent être perturbées à cause des diverses variations dynamiques auxquels sont soumis les réseaux ad hoc. Parmi les algorithmes d'apprentissage distribués, nous avons identifié des méthodes basées sur le paradigme "d'essais erreur'' (TE en anglais) comme des solutions potentielles. Ces algorithmes ont la particularité d'avoir des propriétés de convergence globale intéressantes bien que le problème soit non coopératif.Dans un premier temps, nous avons étudié la convergence théorique de ces algorithmes en réalisant des approximations de chaînes de Markov dans des cas particuliers. Ensuite, nous avons montré théoriquement et numériquement que le principal défaut des approches TE est leur sensibilité aux variations aléatoires de la mesure d'utilité. Nous avons donc proposé des solutions, avec des preuves théoriques à l’appui, pour adapter ces algorithmes aux cas où l'utilité serait perturbée par des phénomènes aléatoires. Enfin, nous avons analysé de manière plus approfondie l’influence des évanouissements de Rayleigh sur les statistiques de l’utilité. / This thesis deals with the fully distributed allocation of channels in clustered ad hoc networks. Nodes are gathered locally into clusters in order to keep the advantage of the no infrastructure of ad hoc networks, and to reduce the amount of signalling. In each cluster a node is elected as the Clustered Head (CH) whose role is to manage the resources and the transmissions locally. One of the major problem is to allocate in a distributed way spectrum bands to the clusters in order to make them able to operate. Bandwidth is a scarce resource which implies that several clusters may use the same frequency and hence interfere among each other. The CH realizes the frequency allocation based on a utility function that uses measurements as inputs. These measurements are possibly disturbed due to the wide variety of dynamic changes that face ad hoc networks. Among the distributed learning algorithms, we have identified approaches based on "trial and error'' (TE) paradigm that could solve the channel allocation problem. These approaches possess very attractive global convergence behavior despite the non-cooperativeness of the problem and thus in a broad class of games.First, based on a specific utility model, we analyse the performance of these algorithms using Markov chains approximations in order to reduce numerical computations complexity. Then, we assess theoretically and numerically that a drawback of TE algorithms is their sensitivity to disturbances. We propose modifications with supporting theoretical proofs in order to adapt the TE algorithms to disturbances of the utility. Furthermore, we study the impact of Rayleigh fading on the utility by deriving its probability density function (pdf) in various contexts.

This is probably the most appropriate time for the development of robust and reliable structural damage detection systems as aging civil engineering structures, such as bridges, are being used past their life expectancy and beyond their original design loads. Often, when a significant damage to the structure is discovered, the deterioration has already progressed far and required repair is substantial. This is both expensive and has negative impact on the environment and traffic during replacement. For the exposed reasons the demand for efficient Structural Health Monitoring techniques is currently extremely high. This licentiate thesis presents a two-stage model-free damage detection approach based on Machine Learning. The method is applied to data gathered in a numerical experiment using a three-dimensional finite element model of a railway bridge. The initial step in this study consists in collecting the structural dynamic response that is simulated during the passage of a train, considering the bridge in both healthy and damaged conditions. The first stage of the proposed algorithm consists in the design and unsupervised training of Artificial Neural Networks that, provided with input composed of measured accelerations in previous instants, are capable of predicting future output acceleration. In the second stage the prediction errors are used to fit a Gaussian Process that enables to perform a statistical analysis of the distribution of errors. Subsequently, the concept of Damage Index is introduced and the probabilities associated with false diagnosis are studied. Following the former steps Receiver Operating Characteristic curves are generated and the threshold of the detection system can be adjusted according to the trade-off between errors. Lastly, using the Bayes’ Theorem, a simplified method for the calculation of the expected cost of the strategy is proposed and exemplified. / <p>QC 20170420</p>

No description available.

<p dir="ltr">Robotic software design and implementation have traditionally relied on human engineers to fine-tune parameters, optimize hardware utilization, and mitigate unprecedented situations. As we face more demanding and complex applications, such as distributed robotic fleets and autonomous driving, explicit fine-tuning of autonomous systems yields diminishing returns. To make autonomous systems smarter, a design-time and run-time framework is required to extract constraints from high-level human decisions, and self-adapt on-the-fly to maintain desired specifications. Specifically, for controllers that govern cyber-physical interactions, making them self-adaptive involves two challenges. Firstly, controller design methods have historically neglected computing hardware constraints that realize real-time execution. Hence, intensive manual tuning is required to materialize a controller prototype with balanced control performance and computing resource consumption. Secondly, precisely modeling the physical system dynamics at edge cases is difficult and costly. However, with modeling discrepancies, controllers fine-tuned at design time may fail at run time, causing safety concerns. While humans are inherently adept at reacting and getting used to unknown system dynamics, how to transfer this knowledge to robots is still unresolved.</p><p dir="ltr">To address the two challenges, we propose a designer-augmenting framework for self-adaptive control systems. Our framework includes a resource/performance co-design tool and a model-free controller self-adaptation method for real-time control systems. Our resource/performance co-design tool automatically exploits the Pareto front of controllers, between real-time computing resource utilization and achievable control performance. The co-design tool simplifies the iterative partitioning and verification of controller performance and distributed resource budget, enabling human engineers to directly interface with high-level design decisions between quality and cost. Our controller self-adaptation method extracts objectives and tolerances from human demonstrations and applies them to real-time controller switching, allowing human experts to design fault mitigation behaviors directly through coaching. The objective extraction and real-time adaptation do not rely on prior knowledge of the plant, making them inherently robust against mismatch between the design reference model and the physical system.</p><p dir="ltr">Only with the prerequisite of real-time schedulability under Worst-Case Execution Time (WCET), will the digital controller deliver the designed dynamics. To determine the real-time schedulability of controllers during the design-time iteration and run-time self-adaptation, we propose a novel estimate of WCET based on the Mixed Weibull distribution of profiling statistics and a linear composition model. Our hybrid approach applies to design-time estimation of arbitrary-scaled controllers, yielding results as accurate as a state-of-the-art method while being more robust under small profiling sample sizes. Finally, we propose a resource consolidator that accounts for real-time schedulable bounds to utilize available computing resources while preventing deadline misses efficiently. Our consolidator, formulated as a vector packing problem, exploits different parallelization techniques on a CPU/FPGA hybrid architecture to obtain the most compact allocation plan for a given controller complexity and throughput. </p><p dir="ltr">By jointly considering all four aspects, our framework automates the co-optimization of controller performance and computing hardware requirements throughout the life cycle of a control system. As a result, the engineering time required to design and deploy a controller is significantly reduced, while the adaptivity of human engineers is extended to fault mitigation at run-time.</p>