Real-time adaptive control using CPAS on a MC68010-based process computer

Traditionally indirect adaptive controllers are implemented by evaluating the estimation, design and control parts in sequence. This is probably the case more for the sake of convenience than for the nature of the adaptive algorithm, since the estimation and the control parts apart from the design coupling for the `certainty equivalence principle´ based controllers could be independently evaluated. In the paper a multitasking implementation of an indirect adaptive controller is examined. By using the δ-model approximation to a continuous time adaptive controller the benefits of the additional flexibility arising from the multitasking implementation may be easily incorporated in the overall design. The multitasking adaptive controller is implemented through the use of the programming language CPAS and the multitasking operating system SL/OS in this particular case running on a CISC MC68010 process computer