An adaptive discrete-time tracking controller for a direct current motor with controlled excitation flux is presented. A recurrent neural network is used to identify the plant model; this neural identifier is trained with an extended Kalman filter algorithm. Then, the discrete-time block-control and sliding-mode techniques are used to develop the trajectory tracking. This paper also includes the respective stability analysis for the whole closed-loop system. The effectiveness of the proposed control scheme is verified via real-time implementation.