@InProceedings{Groothuis08,
  title =        "{FPGA} {B}ased {C}ontrol of a {P}roduction {C}ell {S}ystem",
  author=        "Groothuis,  Marcel A. and Van Zuijlen,  Jasper J.P. and Broenink,  Jan F.",
  editor=        "Welch, Peter H. and Stepney,  S. and Polack,  F.A.C and Barnes,  Frederick R. M. and McEwan,  Alistair A. and Stiles,  G. S. and Broenink,  Jan F. and Sampson,  Adam T.",
  pages =        "135--148",
  booktitle=     "{C}ommunicating {P}rocess {A}rchitectures 2008",
  isbn=          "978-1-58603-907-3",
  year=          "2008",
  month=         "sep",
  abstract=      "Most motion control systems for mechatronic systems are
     implemented
on digital computers. In this paper we present
     an FPGA based solution
implemented on a low cost Xilinx
     Spartan III FPGA. A Production
Cell setup with multiple
     parallel operating unit is chosen as test
case. The embedded
     control software for this system is designed in
gCSP using a
     reusable layered CSP based software structure. gCSP
     is
extended with automatic Handel-C code generation for
     configuring the
FPGA. Many motion control systems use
     floating point calculations
for the loop controllers. Low
     cost general purpose FPGAs do not
implement hardware-based
     floating point units. The loop controllers
for this system
     are converted from floating point to
     integer-based
calculations using a stepwise refinement
     approach. The result is a
completely FPGAbased motion
     control system with better performance
figures than previous
     CPUbased implementations."
}