Nonlinear Adaptive Control Of A Permanent Magnet Stepper Motor

Abstract

This paper considers adaptive position control of a permanent magnet (PM) stepper motor using exact linearization via static state-feedback. Physical outputs are chosen in such a way that the resulting closed-loop system is linearized and decoupled. The objective of the adaptive controller for a PM stepper motor is to achieve output tracking between the motor outputs and prescribed reference signals in presence of parameter uncertainties. This will be achieved by incorporating a parameter identification scheme in the nonlinear state-feedback control law. Simulation results are presented and discussed.