Abstract
Modern control systems such as state variable feedback control systems with observers or adaptive control systems are introduced in industry at a very slow rate. A major reason for this is that engineers must be convinced first that the algorithms of modern control theory are at least as powerful and reliable as the long proven three-term controller. A block-structured exception handling mechanism embedded in the real time operating system MODEB V2 coded in Modula-2 is proposed as a base for a general program structure adapting itself to variable environmental conditions. A variable structure control system consisting of a three-term controller, a state variable feed-back controller, and an adaptive controller as well as the outline of the system imple-mentation are given to illustrate the proposed program structure.
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