Tuning and Implementation of PID Controllers using Rapid Control Prototyping

Abstract

The paper presents a Rapid Control Prototyping (RCP) toolbox for Scilab/Scicos, which generates real-time C code using RTAI-Lab. The toolbox contains three main blocks: PID controller, Fractional Order PID (FOPID) controller and Least Mean Square (LMS) adaptive filter. Using the implemented toolbox two closed loop control systems using a PID and a FOPID controller are implemented. For tuning the PID controller the relay feedback tuning method and a robust experimental tuning method are used. For the FOPID controller tuning an experimental tuning method is implemented.