Abstract:- This paper describes the design and implementation of adaptive linear optimal controller (LQ) based on a pseudo-space model into PLC. For identification of the controlled system an algorithm based on artificial neural network is used. The method of comfortable implementation of algorithms from the MATLAB/Simulink environment into PLC is shown. In the first step of implementation the algorithm is designed in the simulation environment. The second step contains verification of the designed algorithm during real process control, and finally is the algorithm moved from MATLAB/Simulink into PLC. The basic condition for realization of the described implementation method is the existence of real-time communication between MATLAB/Simulink and PLC. This article shows how real-time communication can be created using PLC B&R. The behavior of the described adaptive LQ algorithm is compared with that of adaptive PSD controller during control of the real system
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