In order to design a controller for a dynamic system such as a position controller, a mathematical model that describes its behavior must be constructed. In this investigation, an algorithm known as Recursive Least Squares (RLS) will be used to determine a discrete transfer function of a plant from past input and output data. A Texas Instruments TMS320C30 floating-point digital signal processor (DSP) evaluation module (EVM) and Mathwork's Matlab are used in conjunction with a personal computer as a test bench platform for the RLS implementation. Two 12-bit A/D converters connected to the dynamic system and the EVM are used to collect the input and output data from the single-input-single-output (SISO) dynamic system before the TMS320C30 is used for execution of RLS algorithm. Thus, the dynamic system coefficients which best fit its characteristics may be determined in real-time and used for control.
 

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