4. Data Acquisition

The block diagram of the data acquisition system is given in the figure bellow:

Open-loop operation
The real-time experiments have been performed with different PRBS signals, for the primary and secondary path. The sampling frequency was Fs = 800 Hz. The characteristics of the data obtained and the name of the files are given below:
Primary path:

• data_prim2.mat: PRBS input generated by a 10-bit shift register, with a clock frequency of Fs/2 input magnitude: 0.125V, data length: 8184

Secondary path:

• data_sec2.mat: data has been obtained in closed loop using a RST controller, the excitation signal has been added to the plant input (controller output), the excitation has been the same as for the primary path: PRBS input generated by a 10-bit shift register, with a clock frequency of Fs/2, input magnitude: 0.125V, data length: 8184

Other data can be acquired on demand.