Method of adaptive solar tracking using variable step size

A method for automatic solar tracking for a photovoltaic (PV) system including at least one PV panel having a panel surface for receiving solar radiation, comprising:

• providing an iterative adaptive control (IAC) algorithm that includes an iterative relation that relates an output power (P) at a current time k (P(k)), an elevation angle of said PV panel at k (θS (k)), said P after a next step (P(k+1)) and an elevation angle of said PV panel at k+1 (θS (k+1));
• generating, using at least one computing device, a perturbed output power value P(k+1) to provide a power perturbation to said P(k),
• calculating, by said computing device, said θS (k+1) using said value for said P(k+1) in said iterative relation, and
• positioning said PV panel to achieve said θS (k+1);
• sensing said P with said PV panel positioned at said θS (k+1);
• wherein said IAC algorithm further implements:
• comparing a change in said P resulting from said positioning to a predetermined P change limit, and
• if said change in said P is ≧ said predetermined P change limit, repeating said sensing said P and said generating, calculating and said positioning, and
• if said change in said P < said predetermined P change limit, waiting a predetermined waiting period before repeating said sensing said P and said generating, calculating and said positioning.