The velocity control of a permanent magnet type stepping motor using a self-tuning theory

In this paper, a robust self-tuning controller for a velocity control of permanent magnet type stepping motor is proposed.. The self-tuning theory provides a nonlinear modeling of a stepping motor drive system and could provide the controller with information regarding the reference variation, system noise, and parameter variation of the stepping motor through the on-line estimation. Thus, the proposed self-tuning controller can change the gains of the controller according to system conditions. The availability of the proposed controller is verified through experiment results.