Implementation of adaptive controller (δ-model) into PLC library

Abstract

This paper deals with implementation of one self-tuning controller into PLC's (Programmable Logic Controller) library. The polymial method is used and the parameters of controller are derived using δ-model and the pole placement approach. The recursive least-squares method and directional forgetting is used to estimate the parameters of the δ-model. The algorithm was implemented into library of PLC - Tecomat, product of Teco, Inc. Company. The laboratory tests proved that algorithm implementation was successful.