An adaptive pole-shifting algorithm and its implementation for reference tracking of a DC drive using a DSP chip

A strategy for the design of a single-input and single-output self-tuning controller for reference-signal tracking is described in this paper. An existing algorithm for shifting the closed-loop poles radially towards the origin in the z-domain for regulation has been utilized for reference-signal tracking, by combining it with a well-known control law. The use of a self-searching pole-shifting technique increases the flexibility of the strategy when applied to varying operating conditions encountered in various industrial applications. A self-tuning controller has been implemented using a single-chip digital signal processor (DSP). The result is a reduction of system hardware, cost and calculation time.