Using of self-tuning controllers Simulink library for real-time control of nonlinear servo system

Abstract

The combination of the automatic control theory courses, simulation verification and practical implementation of the designed controller algorithms in real-time conditions is very important for training of the control engineers. This contribution present structure and usage of Self-tuning Controllers Simulink Library (STCSL) for real time control. The STCSL was created for design, simulation verification and especially real-time implementation of single input - single output (SISO) digital self-tuning controllers. The proposed adaptive controllers, which are included in the library, can be divided into three groups (PID controllers, controllers based on the polynomial approach and the controllers derived on the other approaches (minimum variance etc.). This Library is very successfully used in Adaptive Control Course in education practice for design and verification of self-tuning control systems in simulation and real-time conditions. It is suitable also for design and verification of industrial digital controllers. The highly nonlinear laboratory model, the DR300 Speed Control with Variable Load, has been chosen as example for real-time control. The STCSL is available free of charge at the Tomas Bata University internet site - http://www.utb.cz/stctool/.