Simple decentralized autonomous adaptive nonlinear real-time controller with controller source code optimization: Case study

The paper deals with the combination of several approaches of the feedback control applied on the laboratory apparatus in real-time. Each of these approaches is generally known, but their consolidated implementation into one control algorithm is new. The control program was written in MATLAB with Real-time toolbox and realized in PC with the technological card connected to the laboratory apparatus. Due to the fact the control system has multiple inputs and multiple outputs the decentralized autonomous controller was used. Many systems are biased in practice therefore the self-tuning control strategy was added into the used control algorithm. Furthermore, the method of simple nonlinear controller enlarges the area of usage of the used approach. It is common that the controlled process is needed to be controlled in real-time in practice. In that purpose, the Real-time toolbox was used. Finally, the not so commonly used techniques of time optimization of source code in MATLAB was used to run the program faster, such as cycle masking, or minimization of commands in the main cycle.