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Experimental implementation of MRAC for a Dc Servo Motor


Please use this identifier to cite or link to this item: http://hdl.handle.net/1928/20418

Experimental implementation of MRAC for a Dc Servo Motor

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Title: Experimental implementation of MRAC for a Dc Servo Motor
Author: Abdallah, Chaouki T.; Cerda, A.; Jordan, R.
Subject: Adaptive control
DC motors
Digital control
Digital signal processors
Abstract: A hardware implementation of adaptive controllers using a digital signal processor (TMS320C25) is described. Two model reference adaptive control (MRAC) schemes are explored together with some of the practical problems associated with their implementation. In the case described, the truncation that occurs when a 32-b hardware register is stored in a 16-b memory location, is one of the main factors of the limit cycle present in the convergence of the adaptive gains. The solution to this problem is to use γ modification. The γ modification makes the convergence possible. It can be used to increase the convergence speed of the gains. A special controller is designed and implemented to adjust γ as a function of the output error e1. This controller reduces the oscillations of the adaptive gains around the final value.
Date: 1992
Publisher: IEEE
Citation: Proceedings of the 31st IEEE Conference on Decision and Control, 1992, 4: 3542-3543
Description: Digital Object Identifier : 10.1109/CDC.1992.370995
URI: http://hdl.handle.net/1928/20418
ISBN: 0-7803-0872-7

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