Rapid Control Prototyping educational toolbox for Scilab/Scicos

The paper presents a Rapid Control Prototyping (RCP) toolbox for Scilab/Scicos, which can be used to generate real-time C code using RTAI-Lab. The toolbox contains three main blocks: PID controller, Fractional Order PID controller and Least Mean Square (LMS) adaptive filter. Once the coefficients of the PID or fractional PID controller are determined the PID control blocks can be used to easily test the response of the controlled system. Six different LMS algorithm are implemented: LMS, leaky LMS, normalized LMS, sign-error LMS, sign-data LMS and sign-sign LMS. This solution is a low cost one, because neither a software license nor an expensive hardware is required. A general purpose computer, on which runs a Linux distribution can be used.