Voltage "Velocity -- Torque" PI-PI Saturated Controller of High -- Torque HSM

Abstract

High torque hybrid stepper motors become a popular choice when implementing high -- accuracy controllers for mechatronic systems. This paper takes the main features of complete feedback state controller, used in electromechanical systems, in order to propose a nonlinear tracking control with a Voltage "Velocity -- Torque" PI-PI Saturated Controller. The experimental system response shows that the tracking control problem is satisfied, i.e., the velocity error signal is bounded around the origin.