Robust tracking control of a permanent magnet stepper motor driving a mechanical load

Author

Speagle, R.C., Jr. ; Dawson, D.M.

Author_Institution

Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA

fYear

1993

fDate

7-9 Mar 1993

Firstpage

43

Lastpage

47

Abstract

A recently developed control synthesis approach that can be used to design a robust tracking controller for a permanent magnet (PM) stepper motor driving a mechanical load is illustrated. The approach is flexible and easily understood, as it is based on concepts readily identified by most control engineers. The proposed controller compensates for parametric uncertainty in the motor/load model and additive bounded disturbances while yielding a global uniform ultimate bounded (GUUB) stability result for the motor position tracking error

Keywords

closed loop systems; control system synthesis; machine control; permanent magnet motors; position control; robust control; stepping motors; tracking; additive bounded disturbances; control synthesis; global uniform ultimate bounded stability; mechanical load; model; motor position tracking error; parametric uncertainty; permanent magnet stepper motor; robust tracking controller; Adaptive control; Error correction; Feedback; Force control; Permanent magnet motors; Programmable control; Reluctance motors; Robust control; Robust stability; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

System Theory, 1993. Proceedings SSST '93., Twenty-Fifth Southeastern Symposium on

Conference_Location

Tuscaloosa, AL

ISSN

0094-2898

Print_ISBN

0-8186-3560-6

Type

conf

DOI

10.1109/SSST.1993.522739

Filename

522739