A Python-Based Open-Source Software for Real-Time Control Systems

This paper introduces an open-source Python software that achieves a high performance for the sampled period, despite running on a general-purpose operating system instead of a real-time operating system. The software is designed to implement control systems and experiment with physical platforms, particularly the Quanser Qube-Servo 2. This article describes the coding design, numerical methods, modeling, and identification of the Qube-Servo 2, the control design, and its implementation. Finally, a quick guide to downloading via GitHub and installation requirements are provided.