How to drive PWM using U (control signal)

Z

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zeta

Hi friends...

I have a problem about PWM (Pulse Width Modulation) in MRAS design for controlling DC motor.

I have the algorithm to get control signal:
u(k)=c1(k-1)y(k-1)+c2(k-1)y'(k-1)+c3(k-1)r
e(k-1)=y(k-1)-ym(k-1)
c1(k-1)= - sigma from i=0 to i=k-1 {e(i)y(i)
c2(k-1)= - sigma from i=0 to i=k-1 {e(i)y'(i)
c3(k-1)= - sigma from i=0 to i=k-1 {e(i)r(i)

This Algorithm is applied on PLC Siemens S7200 in STL. And this result has U always decreasing...
My problem is how to drive PWM from U (control signal). It means how to make the duty cycle value from U.
 
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