Angular velocity and position control of a permanent magnet stepper motor

A control scheme based on the singular perturbations methodology and the sliding mode technique is designed for a permanent magnet (PM) stepper motor. The control scheme designed allows the angular velocity and position of the motor to track some given reference trajectories and it is based on the reconstruction of those signals from direct measurements of the stator currents and stator voltages. Some simulation and experimental results are shown to verify the performance of the control strategy.