<p>In this study, a real-time hierarchical Energy Management System (EMS) with a modular structure has been proposed and experimentally examined to ensure the coordination of Distributed Energy Resources (DERs) in DC microgrids. To this end, a test setup has been established for a DC microgrid configuration comprising three identical DERs, a load, and a control block. In the experimental studies, adaptive/conventional droop control, response to changes in reference voltage of the system, the plug-and-play capability of the system, and power-sharing based on different current-sharing ratios have been systematically addressed and evaluated. Adaptive droop control showed 2.6% better performance in power transfer and 1.34% better performance in DC bus voltage regulation compared to the conventional droop method. When the system’s response to the change in reference voltage is examined, the DC bus voltage is observed to reach the specified reference level stably. In evaluating the system’s plug-and-play capability, it has been observed that the proposed method enabled the disconnection and reconnection of DERs without compromising system stability. Thus, the modularity of the system has been enhanced, and the sustainability of the grid has been ensured. The experimental results demonstrated that the proposed EMS for DC microgrids can manage power flow optimally, autonomously, and stably. These findings support the efficient use of Renewable Energy Sources (RESs) in DC microgrids and provide a valuable reference for future trends in EMSs.</p>