Adaptive digital PID controller implemented on 32-bit ARM7 microcontroller

Abstract

The variations of the process parameters is a strong reason to use adaptive controller. In this paper, the implementation of adaptive digital proportional-integral-derivative (PID) controller on 32-bit ARM7 microcontrol- ler which is intended for general purpose applications is described. The controlled process is identified using recursive least squares algorithm, and the parameters of the PID controller are designed by the pole placement method on the basis of estimated plant coefficients. The system identification and controller designing are completely done in microcontroller. For to survey the effects of uncertainty on the process, a normalized model of a motor by MATLAB software is used. The connection between MATLAB and microcontroller is compatible with RS232 standard. The extensive studies carried out clearly proves that the proposed approach by the ARM microcontroller , is an excellent choice for control problems including adaptive control systems due to its high efficiency, speed and robustness. © 2011 Springer-Verlag.