Application of nonlinear control methods to the positioning of a permanent magnet stepper motor

Abstract

The application of modern nonlinear control theory to the fast and accurate positioning of stepping motors is discussed. The mathematical model of a permanent magnet stepper motor is presented. Control algorithms based on a feedback linearization approach are presented and contrasted with current techniques. Methods to determine the unknown motor parameters in real-time and normal operation are also discussed. These allow for straightforward extensions of the control algorithms to adaptive control. An experimental setup to evaluate the performance of the overall system is described.<>