Digital Library

of the European Council for Modelling and Simulation



Library For Design And Simulation Verification Of Self-Tuning Controllers


Vladimír Bobál, Petr Chalupa, Petr Dostál

Published in:


ECMS 2008 Proceedings

Edited by: Loucas S. Louca, Yiorgos Chrysanthou, Zuzana Oplatkova, Khalid Al-Begain


ISBN: 978-0-9553018-6-5

Doi: 10.7148/2008


22nd European Conference on Modelling and Simulation,

Nicosia, June 3-6, 2008


Citation format:

Bobal, V., Chalupa, P., & Dostal, P. (2008). Library For Design And Simulation Verification Of Self-Tuning Controllers. ECMS 2008 Proceedings edited by: L. S. Louca, Y. Chrysanthou, Z. Oplatkova, K. Al-Begain (pp. 493-499). European Council for Modeling and Simulation. doi:10.7148/2008-0493



This contribution present structure and usage of Self- tuning Controllers Simulink Library (STCSL). The STCSL was created for design, simulation verification and especially real-time implementation of single input - single output (SISO) digital self-tuning controllers. The proposed adaptive controllers which are included in library can be divided into three groups. The first group covers PID adaptive algorithms using traditional Ziegler-Nichols method for setting controller parameters, the second group of described controllers is based on the polynomial approach and the third group contains the controllers derived on the other approaches (minimum variance etc.). The controllers are implemented as an encapsulated Simulink blocks and thus allows users simple integration into existing Simulink schemas. The process of developing real-time applications using MATLAB Real-Time Workshop and several control courses is also presented. This Library is very successfully used in Adaptive Control Course in education practice for design and verification of self- tuning control systems in simulation and real-time conditions. It is suitable also for design and verification of the industrial digital controllers. The STCSL is available free of charge at Internet site -

Full text: