Robust nonlinear position control with conditional reset integrator for permanent magnet stepper motors

In this paper, we present a robust nonlinear controller based on singular perturbation theory with a conditional reset integrator for position tracking of permanent magnet stepper motors (PMSMs) using position feedback. To reduce both the overshoot and the steady-state error in position tracking, a conditional reset integrator is proposed. The proposed controller guarantees that the origin of position tracking error is globally asymptotically stable. Furthermore, the proposed controller is robust against the input noises, load torque, and the parameter uncertainties. By using passive properties of PMSMs, the requirements of the velocity and current measurements were removed. Simulation results validate the effectiveness of the proposed controller.