This paper presents an implementation of adaptive dual current mode control (ADCMC) on non-inverting buck-boost converter. An experimental verification of the converter operation with the proposed ADCMC has been performed in steady state and during the step disturbances in the input voltage and the load resistance. The given experimental results confirm the effectiveness of the proposed control method.

Abstract: Regarding the fact that the industrial robot PUMA 560 is one of the robots with the best mathematical description of its kinematics, it found the new application in the research laboratories for educational purposes. For that reason there is a need to design new controllers which would be compatible with the contemporary CAD tools used for robot movement programming in a graphic manner. Basically, new controllers can be divided into two groups: PC-based and with embedded computer. It is well established that PC computers are known for their unreliability and sensitivity to computer viruses and the suggestion is that the stated shortcomings should be overcome by the use of FPGA based embedded computers. In this paper is suggested FPGA based controller which has to answer the following requirement of the hypothesis: realisation of the robot controller based on FPGA chip (single chip) which contributes the system availability and safety while answering all the functional, safety and economical requirements. The new controller will enable the use of advance CAD tools which is one of the aims of the research.

Abstract This paper is a description of universal block created for the purpose of simplifying realization of control structure for anthropomorphous robots on FPGA chip. Block is realized in Matlab with installed DSP Builder used for programming Altera FPGA chips with FPGA Real Time Toolbox. In the paper are also provided prerequisites and control structure for robot PUMA 560, as well as simulation results of the chosen algorithm realized in Matlab with Robotics Toolbox. In the end of the paper are provided experimental results verified on robot PUMA 560. Matching between experimental and simulation results validates the concept of the realized controller hardware and universal block.

In this paper is presented realization of integral environment which consists of software and hardware components for the purpose of programming Altera DE boards. Software component is Toolbox FPGA Real Time which enables simple use of Matlab/Simulink with DSP Builder for the purpose of realization of control structures. Hardware component are Interface cards that make connection of DE board with object of control possible. Simulation and experimental results of DC motor control indicate the usefulness of the proposed concept.