Multirate output feedback sliding mode control of permanent magnet stepper motor using flatness property

Author

Bandyopadhyay, B. ; Thakar, V.K.

Author_Institution

Syst. & Control Eng., IIT, Mumbai, India

Volume

2

fYear

2004

fDate

2-4 Sept. 2004

Firstpage

1370

Abstract

The paper presents a method for output feedback sliding mode control for permanent magnet (PM) stepper motor which is known to be a differentially flat system. Discretization of continuous time model of the stepper motor has been carried out and linearizing outputs are selected. Discrete state variables and control inputs are obtained in terms of linearizing outputs and their higher order differences. Linearized equations for the system are thus obtained and auxiliary control is designed using reaching law approach. Then the actual control is obtained in terms of flat output and state variables. It has been shown that this can be expressed in terms of the flat output samples only. The control when applied to nonlinear system will give the same result as that of the state feedback case.

Keywords

continuous time systems; feedback; linearisation techniques; machine control; permanent magnet motors; variable structure systems; auxiliary control; continuous time model; differentially flat system; discrete state variables; flatness property; linearized equations; multirate output feedback sliding mode control; permanent magnet stepper motor; reaching law approach; Continuous time systems; Control systems; Magnetic properties; Magnetic variables control; Nonlinear control systems; Nonlinear systems; Output feedback; Permanent magnet motors; Sliding mode control; State feedback;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 2004. Proceedings of the 2004 IEEE International Conference on

Print_ISBN

0-7803-8633-7

Type

conf

DOI

10.1109/CCA.2004.1387565

Filename

1387565