Development and implementation of high performance variable structure tracking control for brushless motors

A high-performance controller for DC brushless motors is proposed. The controller is based on the theories of variable structure tracking. With the proposed method, the rotor position can trace any arbitrarily selected track with a high degree of accuracy, and without overshooting or overstressing the hardware of the system. The control strategy is adaptive and very robust. External disturbances and variations in system parameters are adaptively compensated by the tracking controller. The proposed controller is suitable for such applications as robotics, actuation and manipulation, where most of the present fixed-parameter positional control methods are inadequate. The system is designed and implemented in the laboratory. Test results are presented and discussed