Experimental implementation of MRAC for a Dc Servo Motor

The TMS320C25 is a fixed-point microprocessor so that in our experiments filters, Mereace equations, sine wave generations and random sequences are impleme.nted uning Q formats [2]. In our experiments, the plant ia given by KpJ(a+ Pp), the desired model is K,,,/(a + P,,,), the output of the plant is l~p, that of the model ia yn, the input to the plant ir zp and that of the model ia 2,. The error ia defined as e1 = yp y,,. All assumption8 for the existence of a stable adaptive controllez as described in [3] are satisfied. Equation (1) constitute th? adaptive law to adjust the proportional gain [3] for case 1, where only the high frequency gain is &owm Equation (2) b the discrete version of thb law, obtained