Nonlinear control for high performance motor drives

Two nonlinear control structures are presented. They are both suitable for the control of high-performance motor drives commonly used in servo, machining, and robotic systems. The two proposed concepts are based on the variable structure and adaptive approach, thus primarily enabling the consideration of control signal constraints or the adaptation to unknown or variable plant parameters. The control structures are realized on the basis of Lyapunov´s functions so that the feedback system is globally asymptotically stable. Both control approaches were simulated on a two-link rigid robot driven by a DC permanent servodrive. The robot task includes PTP and CP movements