Simulation and experimental study of real-time robust control of hybrid stepper motor with QFT method in micro-step operation

Real-time linear robust control of a two-phase hybrid stepper motor with quantitative feedback theory method in micro-stepping operation is considered in this paper. Utilizing the phase currents as inputs, linear robust controller is derived for a hybrid stepper motor that achieves robustness to parametric and dynamic uncertainties such as viscous friction, load torque, flux linkage and other uncertainties. Simulation and experimental studies are presented to show the efficiency of the control design approach.