Implementation of a self-tuning controller using digital signal processor chips

Implementation aspects of a self-tuning motion controller, which uses the Texas Instruments TMS32010 digital signal processor (DSP) chip, are described. The potential advantages in using a DSP chip include reduction in operation time, development time, and cost. The self-tuning controller can track variations in system parameters as well as system disturbances. Algorithms are described, experimental results are presented, and implementation strategies to overcome limitations of such systems are discussed.>