Digital Twin of a Stewart Platform for Embedded Control Testing Using HIL Simulation

Abstract

This research mitigates the gap between theoretical control design and real-world implementation of Stewart platforms, where high system costs often limit experimental validation. The objective of this work is to develop a Stewart platform digital twin using Hardware-in-the-Loop simulation for control testing. To achieve this, a discretized model was implemented with a hardware controller for a closed-loop system. The digital twin was successfully tested with an embedded input using serial communication. This framework provides an accessible, low-risk environment for students and researchers to evaluate advanced control algorithms. Future developments could focus on the integration of middleware to expand the system’s monitoring and training capabilities.