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ARGESIM Benchmark C13 'Crane and Embedded Control' is based on nonlinear and a linear continuous dynamics for a crane crab and on discrete control by a linear observer model. This solution makes use of the MATLAB/Simulink system in a ‘mixed’ manner. The continuous dynamics are modelled graphically in the Simulink environment – using partly connected blocks and partly MATLAB functions. The discrete control with observer model and the diagnosis is programmed in MATLAB, framed by a sampled date discrete submodel in Simulink connected to the continuous submodels for the dynamics. This approach allows fast modelling, but deeper insight into the simulation environment is necessary. Introduction MATLAB is a high-level language and interactive environment for numerical computation, visualization, and programming [1]. It is based on numerical vector and matrix manipulation. SIMULINK is a graphical block diagram environment for multidomain simulation and model-based design [2]. Within Simulink, MATLAB functions can be used, with high complexity. This solution makes use of the MATLAB/Simulink system in a ‘mixed’ manner. The continuous dynamics are modelled graphically in the Simulink environment – using partly connected blocks and partly MATLAB functions. The discrete control with observer model and the diagnosis is programmed in MATLAB, framed by a sampled date discrete submodel in Simulink connected to the continuous submodels for the dynamics. 1 Modelling Basis for the dynamic model are the linear and nonlinear mechanical equations for the crane crab, and the ‘electrical equation for the DC motor Linear model for crane crab:

ARGESIM Benchmark C13 'Crane and Embedded Control': SIMULINK–modelled Dynamics and MATLAB-programmed Control