Applied continuous - time self - tuning control

One approach to a recursive identification of continuous - time systems was implemented in self - tuning control of a system of interconnected tanks. Since derivatives of input and output variables of continuous - time systems can not be directly measured, differential filters and filtered variables are established to substitute primary variables. The filtered variables are then used in a recursive identification procedure where the classical recursive least squares method is used to identify the system. Results of real - time experiments are compared to results obtained with an analogical discrete controller.