Parallel processing network for adaptive controllers

The paper presents a top-down methodology for an approach to the systematic design of medium-to-coarse grain multiprocessor systems for real-time computer controllers. The scheme exploits the processing requirements of control applications to simplify software development and maintenance. A design example of a transputer system for the adaptive control of a prototype three degrees of freedom direct drive arm, currently being developed at Oxford University, is given to exhibit the validity of the design philosophy.