**6. Conclusions**

In this chapter, a three-step systematic design approach is proposed to design an adaptive control system for practical use. We firstly study the system model identification problem of the embedded control material-strength testing system, including mathematical modeling of all the open-loop physical components and parameters identification of the mathematical model. Both theoretical analyses and experimental comparisons validate the identified transfer function of the system model is applicable for controller design and simulation. Next, benefited from limited computation cost and compensation ability to the modeling error, a simple and effective CMAC plus PD controller is simulated based on the identified system model, and then applied to the embedded control system for real-time force tracking. Both numerical simulations and actual experiments illustrate the proposed algorithm satisfactorily performs the tracking control task under real-time constraints of the embedded system.

On the other hand, different strength features of different types of the material plates will affect the control performances. Since the yield strength generated by the solar panel glass has an almost linear relationship with the deformation of the glass sheet, *KF* in Eq. (7) is a constant. If the tested material plate is not a solar panel glass and the yield strength generated does not have a linear relationship with the deformation of the material plate, *KF* in Eq. (7) will not be a constant. In this case, the problems how to identify the parameters of the system model accurately for simulation-based controller design and how to adjust the CMAC plus PD controller to compensate the varying *KF* , will be under consideration in our future work.
