Implementation of a direct self-tuning control for a DC motor system

Several self-tuning control (STC) algorithms have been developed theoretically, and many simulation results have demonstrated their feasibility during the past years. However, the implementation of STC is seldom seen. Proposed was a direct (implicit) STC design implemented for a DC motor speed control system. The controller design combined the generalized minimum variance (GMV) strategy with a simplified parameter identification algorithm called fast-recursive-extended-least squares (FRELS) to directly update the regulator parameters. The experimental results show that the proposed adaptive controller can achieve better response with less computation time