A new discrete-time algorithm for simple adaptive control and its application to motor control

A discrete-time algorithm for simple adaptive control (SAG) was proposed by Shibata and Kurebayashi (1993). The algorithm solves the problem of additional time delay arising in discretization of continuous-time algorithm, and therefore becomes reliable in theoretical strictness. This paper applies the algorithm to the position control of a DC motor with variable load, Experimental results illustrate satisfactory performance even if the load is largely changed