A linear time-invariant model for a vector-controlled two-phase stepping motor

Recent research on stepping motors concerns intelligent motion control algorithms such as sensorless vector control. Sensorless control is commonly based on a motor model. For stepping motors, this model is highly non-linear, resulting in high computational cost. In this paper it is shown that the motor model can be transformed into a linear model, if the stepping motor is controlled by a vector-control algorithm. The linear model is validated by simulations and sensitivity analysis proves the robustness of the model.