Description Nomenclature Chemical NamesEthinyloestradiol-3-methyl ether. 1 7 a-Ethnylestradiol-3-methyl ether 3-Plethoxy-19-nor-17 a-pregna-1,3,5(10)-trien-20yn-17-01. 19-Norpregna-1,3,5(1O)-trien-2O-yn-l7-ol,3methoxy-(17a)-17a-Ethynyl-3-methoxy-1,3,5(lO)-estratrien-l7~-01. 17~-Ethynyl-3-methoxyoestra-ly3,5(lO)-trien-l7-ol. 17~t-Ethynyl-1,3,5(10)-estratriene-3, 17B-diol-3methyl ether.

The paper is focused on creating a model of Inverted pendulum system and subsequent usage of this model to design a predictive controller of inverted pendulum system. The model is obtained on base of mathematical physical analysis of the system. Unknown parameters of the model are obtained from real-time experiments on the PS600 Inverted pendulum system. The model is designed in MATLAB/Simulink environment. The model was created with respect to most nonlinearities contained in the system. Nonlinearities are caused by fundamental principles of the system and by friction between individual parts of the system. Thus, the model is highly non-linear and therefore linearization around working point was performed and continuous linearized model was calculated as well as its discrete version. The discrete linear model was used to design predictive controller which was also verified by real time experiments.

The paper deals with the problem of modelling and control using the Local Model Network (LMN). The idea is based on development of multiple local models for the whole operating range of the controlled process. The local models are then smoothly connected using the validity or weighting functions to provide a nonlinear global model of the plant. For saving the computational load, linear model is obtained by interpolating the parameters of local models at each sample instant and then used in Model Predictive Control (MPC) framework to calculate the future behaviour of the process. The supervisory program, based on a nonlinear global model, computes desired values of manipulated variables leading to minimum utility consumption. The approach is verified in a control of model of a heat exchanger.

This contribution present structure and usage of Selftuning 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 selftuning 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 sitehttp://www.utb.cz/stctool/.

The paper deals with modelling of a magnetic levitation laboratory plant. The goal of the work was to create a nonlinear model in a MATLAB / Simulink environment representing behaviour of a real-time CE152 laboratory plant. The CE152 is a magnetic levitation model developed by Humusoft company. From the control point of view, the CE152 magnetic levitation plant is a nonlinear very fast system. The model of the plant is developed using first principle modelling and subsequently made more precise using real-time experiments. The behaviour of the resulting Simulink model is compared with the behaviour real-time plant. The Simulink model can be further used in the process of controller design.