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Authors
Ole Ravn

Identifier
10.3182/20060329-3-AU-2901.00145

Index Terms
system identification,adaptive control,simulation,CACSD,controller implementation

Abstract
Scilab/Scicos are open source alternatives for Matlab/Simulink. The Adaptive Toolbox (TAT) has been designed to mirror The Adaptive Blockset (TAB) for Simulink. Design considerations and implementational aspects of the Adaptive Toolbox for Scilab/Scicos are presented. The basics of indirect adaptive controllers are summarized. The concept behind the Adaptive Toolbox for Scilab/Scicos is to bridge the gap between simulation and prototype controller implementation. This is done using the code generation capabilities of CodeGen and RTAI in combination with C function blocks for adaptive control in Scicos. In the paper the design of each group of blocks normally fund in adaptive controllers is outlined. The block types are, identification, controller design, controller and state variable filter. The use of the Adaptive Toolbox is demonstrated using a laboratory setup. Both the use of the toolbox for system identification and adaptive control are shown. Furthermore a comparison is made with The Adaptive Blockset (TAB) for Simulink.

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