Robust tracking control of a permanent magnet stepper motor driving a mechanical load

A recently developed control synthesis approach that can be used to design a robust tracking controller for a permanent magnet (PM) stepper motor driving a mechanical load is illustrated. The approach is flexible and easily understood, as it is based on concepts readily identified by most control engineers. The proposed controller compensates for parametric uncertainty in the motor/load model and additive bounded disturbances while yielding a global uniform ultimate bounded (GUUB) stability result for the motor position tracking error.