Application of H-infinity Robust Controller on PAC

The paper deals with the design and implementation of chosen algorithm based on modern control theory into programmable automation controllers (PAC) used for tutorial purposes. Physical model of Ball&Beam was chosen as an example of a real system to be controlled by H-inf robust controller, using a mixed sensitivity configuration scheme. It covers all the phases of design and implementation of robust controller in Matlab&Simulink, while the implementation was carried out in REX Control system with WinPAC controllers as special embedded systems, mainly WinPAC WP-8841.