Abstract
This article deals with identification and a control design of nonlinear laboratory model Amira DR 300 in a real time. It mentions a mathematical description of the model, its static and dynamical characteristics. Using an experimental method of identification a model has been created, which is suitable for the purpose of simulation testing of non-adaptive as well as adaptive controllers. These were tested as simple adaptive, i.e. non-adaptive controllers, namely in both simulation ways and at a real model control. For the purpose of a non-adaptive control, system parameters were determined by off-line method of the least squares. In an identification part of self-tuning controllers a method of recursive least squares with directional adaptive forgetting factor has been used.
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