The Necessity to Convert Transfer Function of the Object of Control in Adaptive Regulator and the Program to Realize It

This paper shows the practical necessity to equip the adaptive controller with a module capable of converting transfer function of the object of control from a discrete form to continuous and vice verse and to recalculating its parameters to another sampling period with the high accuracy. High accuracy is required by the modal regulator and observer for their normal operation. To meet this need, the authors designed a program in C++, which uses zero-order holder method which, in turn, includes calculation of matrix logarithm and matrix exponential. This program has minimal dependencies and minimal system requirements and was successfully tested on single-board minicomputer CubieBoard3.