TSi ProPac

TSi ProPac is an integrated, enhanced version of TSi Dynamics and TSi Controls. The new TSi ProPac package enables you to do the following.

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Build plant models: Generate explicit, fully nonlinear, symbolic models for robots, automobiles, trucks, tanks, undersea vehicles, aircraft, spacecraft, and more. Include flexible bodies, discontinuous friction, backlash, and impact.
Create simulations: Simulate in Mathematica or generate optimized C code that defines a plant module.
Obtain linear models: Generate linear models at specified equilibria or create parameter-dependent families of linear models.
Design linear controls: Use classical or modern linear-control design methods.
Design nonlinear controls: Employ dynamic inversion, nonlinear output regulation, and variable structure control.
Design adaptive controls: Design adaptive regulators and tracking controllers via input-output linearization or backstepping.
Implement controllers: Generate optimized C code that defines a control module. Use it for simulation or to create a real-time DSP implementation.

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