Microcontroller-based adaptive position controller for a d.c. motor

Abstract

In this paper, we present the design and implementation of a microcontroller-based (Intel 8096) adaptive position controller for a d.c. motor. We modified the Liapunov design of [1] to use the framework of adaptive control of partially known systems. This modification also ensures global stability of the overall system but it reduces the number of parameters to be adapted. To ensure robustness of the adaptation, additional features incorporated include user-selectable adaptation dead-zones and bounds on the adapted parameters. To speed up the controller, we wrote our own floating-point library to replace the library provided by the Intel development system for the 8096 chip. This resulted in floating-point operations that are thrice as fast as the original library provided by Intel.