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This paper presents the intuitive and ready-to-use, general procedure for tuning the balance-based adaptive controller (B-BAC) based on its equivalence to the controller with PI term and with additional improvements shown for the linearised approximation of the dynamics of the nonlinear controlled process. The simple formulas are suggested to calculate the B-BAC tunings based on the PI tunings determined by any PI tuning procedure chosen accordingly to the desired closed-loop performance. This methodology is verified by comparing the closed-loop performance of the equivalently tuned B-BAC and PI/PI + feedforward controllers under the same scenario, both by the simulation and practical experiments.

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This paper deals with the practical aspects of the implementation of the balance-based adaptive control (B-BAC) technique. It gives the simple mathematical background of this methodology, shows the case-independent implementation concept as the ready-to-use flexible function block that results from the B-BAC generality, discusses how to embed the additional functionalities required in professional industrial control applications and finally presents three implementation examples for three different programming and hardware platforms. The control performance of each B-BAC function block is validated experimentally and compared with the performance of the corresponding platform-related standard PID function blocks. The comparative results and the potential accessibility of both the flexible function block and the simple tuning method put forward B-BAC methodology as a strong alternative for PID-based industrial control applications.

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