cs.ROOct 14, 2026

Mixed-Reality Feedback Control: Towards Blending of Control and Digital Twinning

Authors: Melisa Soydan, Mario Gleirscher

Organizations: Institut Polytechnique de Paris, X, Palaiseau, France · Institut Polytechnique de Paris, ENSTA, Palaiseau, France

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Abstract

Technologies, such as co-simulation, in particular, digital twins (DTs) are used for comprehensive and reliable prototyping, verification and validation (V&V) of control systems. There, the combination of feedback loops across multiple realities (e.g., simulations, physical setups) enables various forms of experimentation with robots and autonomous systems. However, the handling of multiple realities requires a more specific support by the modelling techniques used in control engineering. To streamline the latter in the system life cycle, we propose a framework for mixing (i.e., fusing, defusing) control input and feedback signals (i.e., stimuli, responses) in simultaneously operated plants for multiple realities.

Figures & tables

Figure 1: Mixed-reality closed-loop control; fusion and defusion ( ⊕F,⊖F\oplus_{\mathbf{F}},\ominus_{\mathbf{F}} ) influence the signal routing between sensing, control, and actuation; dotted elements may vary across architectures (Section 3.5 ). Double lines: bundled channels.
Figure 2: Clock synchronisation via the precision time protocol (PTP)
Figure 3: Physical, virtual, and fused trajectories of the steerable point-mass model in ( 16 ). Position (a) and velocity (b) are shown for the xx -axis individually and fused. Synchronisation residual (c,e) and adaptive coupling state (d) of the velocity components during the mixed-reality simulation.
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