Design-OS: A Specification-Driven Framework for Engineering System Design with a Control-Systems Design Case
Organizations: Department of Systems Engineering Colorado State University Fort Collins, CO 80523
Abstract
Engineering system design -- whether mechatronic, control, or embedded -- often proceeds in an ad hoc manner, with requirements left implicit and traceability from intent to parameters largely absent. Existing specification-driven and systematic design methods mostly target software, and AI-assisted tools tend to enter the workflow at solution generation rather than at problem framing. Human--AI collaboration in the design of physical systems remains underexplored. This paper presents Design-OS, a lightweight, specification-driven workflow for engineering system design organized in five stages: concept definition, literature survey, conceptual design, requirements definition, and design definition. Specifications serve as the shared contract between human designers and AI agents; each stage produces structured artifacts that maintain traceability and support agent-augmented execution. We position Design-OS relative to requirements-driven design, systematic design frameworks, and AI-assisted design pipelines, and demonstrate it on a control systems design case using two rotary inverted pendulum platforms -- an open-source SimpleFOC reaction wheel and a commercial Quanser Furuta pendulum -- showing how the same specification-driven workflow accommodates fundamentally different implementations. A blank template and the full design-case artifacts are shared in a public repository to support reproducibility and reuse. The workflow makes the design process visible and auditable, and extends specification-driven orchestration of AI from software to physical engineering system design.
Figures & tables
| ID | Domain | Requirement (shall) | Verif. |
|---|---|---|---|
| REQ-01 | Perf. | Damping ratio | Sim. |
| REQ-02 | Perf. | Natural freq. rad/s | Sim. |
| REQ-03 | Perf. | deg | Sim. |
| REQ-04 | Perf. | V | Sim. |
| REQ-05 | Mech. | State-space from first-principles EOM + linearization | Review |
| REQ-06 | Mech. | Parameters documented with source | Review |
| REQ | Specification | Simulation | Result |
|---|---|---|---|
| 01 | Pass | ||
| 02 | rad/s | rad/s | Pass |
| 03 | Pass | ||
| 04 | V | V | Pass |
| REQ | Domain flow | Verification |
|---|---|---|
| 01, 02 | Perf SW (gain ) Elec ( ) Mech ( ) | Sim. step resp. |
| 03 | Perf Mech (pendulum ) | Sim. deflection |
| 04 | Perf Elec (amplifier limit) | Sim. |
| 05 | Mech + Elec matrices | Derivation |
| 07 | Elec ( ) | Review |
| 11 | SW (pole placement) | Design rationale |
| Domain | SimpleFOC | Quanser SRV02 |
|---|---|---|
| Mechanical | 3D-printed, sys. ID needed [ 32 ] | Aluminum arm + pendulum, known params |
| Electrical | BLDC + FOC driver, Arduino | DC servo, gearbox, commercial DAQ |
| Software | C++ + SimpleFOC lib. | MATLAB/Simulink, QUARC |
| Pendulum | Reaction wheel (2-DOF) | Furuta (2-DOF) |
| Cost | $100–200 | $5k+ |
| Claude Opus 4.6 | Gemini 3.1 Pro | |
|---|---|---|
| Overview | 36 artifacts, 29 checkpoints, 24 corrections. Python (model choice). Platforms: Quanser SRV02 + SimpleFOC reaction wheel. | 25 artifacts, 28 checkpoints, 14 corrections. MATLAB (tech-stack). Platforms: Quanser QUBE + ESP32. |
| Stage 1: Concept Def. | Complete — 0 errors. Mission, roadmap, tech stack correct; open tech stack appropriately deferred. | Complete — 0 errors. Mission, roadmap, tech stack correct; MATLAB explicitly committed. |
| Stage 2: Lit. Survey | Good — 21 ref. errors caught by /verify-references ; 8-theme coverage; pipeline step self-initiated. | Fair — 55 sources; 2 citation mismatches found by post-hoc /verify-references (2026-03-07); step not self-initiated. |
| Stage 3: Concept. Design | Good — 1 DOF factual error (1-DOF stated, 2-DOF correct); platform selection and functions correct. | Good — 1 domain error (Control/Math domain missing from decomposition); platforms, functions correct. |
| Stage 4: Req. Def. | Good — 12 requirements, 4 formal standards ( /discover-standards ); 2 minor corrections. | Poor — 7 requirements; /validate-feasibility gate skipped; /discover-standards not run; 3 specification errors: scope deviation, phantom REQ-HWW IDs, HIL in REQ-IMP-002. |
| Stage 5: Design Def. | Complete — both platforms ALL PASS; specification-driven order maintained; 1 numerical error (open-loop poles). | Fair — both platforms pass; execution order corrected; tool mismatch between MATLAB artifacts and Python report. |
| Correction | Claude Opus 4.6 | Gemini 3.1 Pro |
|---|---|---|
| Factual errors | 20 | 1 |
| Missing reqs. | 0 | 1 |
| Halluc. refs. | 3 | 2 |
| Struct. deviat. | 1 | 9 |
| Domain errors | 0 | 1 |
| Total | 24 | 14 |
Appendix figures & tables1 asset
Supplementary material from the paper’s appendix.
Appendix
| Stage | Command | Purpose |
| 1: Concept Definition | /plan-project | Establish mission, roadmap, and tech stack through interactive dialogue |
| 2: Literature Survey | /literature-search | Run landscape search and produce lit note, deep-research prompts, and scholar queries |
| /focused-literature | Targeted search driven by conceptual design gaps | |
| /verify-references | Web-verify cited references and log corrections | |
| 3: Conceptual Design | /conceptual-design | Develop design objectives (DOs), methodologies, and high-level structure from literature |
| /domain-decomposition | Identify system domains and interfaces from literature references |