Abstract
System modeling is a set of mathematical equations that describe the dynamical behavior of a system. It is considered as a primary concern in determining a suitable controller to meet specific requirements. An autoregressive with exogenous terms (ARX) model for a PMDC motor is identified experimentally based on the recursive least square (RLS) method. Adaptive discrete pole placement controller (APPC) is proposed and designed aiming to control the motor revolving speed. For the comparison purpose, a discrete Proportional Integral (PI) controller is also considered in this work. The steady step response, transient response, and the mean squared error (MSE) is counted throughout the comparison. The e ect of the uncertainties in the PMDC model is also investigated in this paper. The result shows a superiority in the performance of the proposed controller compared to that obtained using PI controller.