Self-Tuning Motion Controller for Varying System Parameters

In this paper the design of a digital signal processor based adaptive controller for adaptation to system and disturbance parameter variations is described. The varying parameters for many motion control systems include varying inertia and torque disturbances. The aging of the components may result in the variation of resistance, inductance, back e.m.f and torque constants and degrade the effectiveness of control over time. The self-tuning adaptive control strategy is used to adapt to these changes and provide effective motion control during the life-span of the systems. Details about algorithms, experimental results, limitations of such systems and implementation aspects are discussed.