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Real Time Self-Tuning Controller for Position Control of DC Motor System using Pole-Placement Technique

International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Year of Publication: 2016
Mohammad Tarik Mohammad, Sara Basim, Allaa Zaki, Maher Algreer

Mohammad Tarik Mohammad, Sara Basim, Allaa Zaki and Maher Algreer. Real Time Self-Tuning Controller for Position Control of DC Motor System using Pole-Placement Technique. International Journal of Computer Applications 155(3):16-21, December 2016. BibTeX

	author = {Mohammad Tarik Mohammad and Sara Basim and Allaa Zaki and Maher Algreer},
	title = {Real Time Self-Tuning Controller for Position Control of DC Motor System using Pole-Placement Technique},
	journal = {International Journal of Computer Applications},
	issue_date = {December 2016},
	volume = {155},
	number = {3},
	month = {Dec},
	year = {2016},
	issn = {0975-8887},
	pages = {16-21},
	numpages = {6},
	url = {},
	doi = {10.5120/ijca2016912279},
	publisher = {Foundation of Computer Science (FCS), NY, USA},
	address = {New York, USA}


This paper presents a real time self-tuning controller for DC motor system. Pole-placement adaptive controller based on Exponentially Recursive Least Square (ERLS) algorithm is proposed. The parameters of the DC motor are estimated using ERLS algorithm. Once the estimation error is minimized, the identified parameters are forward to the supervisory control unit to find the corresponding PID gains. A PCI-6251 data acquisition card from National Instrument (NI) and the prototyped control system (33-100 & 33-110) from feedback device are deployed for real time implementation of the proposed solution. Simulation and experimental results verified the effectiveness of the ERLS algorithm, where the parameters of DC motor are estimated rapidly and accurately. Results, also shows the validation of the proposed self-tuning controller for position control of the DC motor system.


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Real time control, DC Motor, Pole-placement controller, ERLS Algorithm, System identification