Simulation and animation of coffee sloshing in a cup; a testbed for control design

This paper describes a software tool useful for gaining insight into the trade-offs encountered in any control system design and to the benefits of a dual-mode control when needed. The plant is a relatively simple two body problem (two masses coupled with a spring & damper). A GUI interfaces with a Simulink® model of the plant and two control options. The GUI makes it possible to switch controllers as the simulation is running and illustrates the trade-offs between performance (output tracking) and control energy management. The dynamics are presented in the form of coffee sloshing in a cup to give the user a familiar physical interpretation.