Robust tracking control of a brushless DC motor with application to direct-drive robotics

A hand-crafted methodology is used to develop a robust tracking control for a brushless direct-current (BLDC) motor turning an inertial load. Using nonlinear models of the motor and load, a global uniform ultimate boundedness (GUUB) stability result for the motor position tracking error is obtained. The control is robust with respect to parametric uncertainty and additive bounded disturbances throughout the entire electromechanical system. The approach assumes full state measurement (i.e., motor position, velocity, and the per phase winding currents).