Speed Estimation of PM Stepper Motors. Robustness Aspects

This work deals with speed estimation in electric drives that include a Permanent Magnet Stepper Motor. On the one hand a nonlinear observer is designed, whereas on the other hand the rotor speed is estimated by using the dirty derivative from the measured position. By assuming model uncertainty and noisy measurements a comparison from the robustness point of view is presented. Advantages and disadvantages of both techniques are commented.