Digital implementation of a RMRAC controller using Z Transform and Delta Transform

This paper presents a comparative study of performance between the Z Transform and the Delta Transform applied to a Robust Model Reference Adaptive Controller (RMRAC). To show the differences between the two discretization techniques, the design of a controller applied to an Uninterruptible Power Supply (UPS) is performed. The simulation results are obtained in a scenario where the controller is implemented in a 16-bit fixed-point arithmetic with a sampling frequency of 6kHz. It is observed that the RMRAC controller in discrete-time via Delta Transform presents better performance with fixed-point arithmetic implementation when compared to the Z Transform.