Position control of permanent magnet stepper motors using conditional servocompensators

Abstract

The application of the ‘conditional servocompensator’ technique to position control of a permanent magnet stepper motor is studied. This is a recent approach to the output regulation of minimum-phase non-linear systems that results in better transient performance over ‘conventional’ servocompensator-based design. Global regulation results are provided for state-feedback control and semi-global results under output feedback, with regional results when the control is constrained. The simulation results show that good tracking performance is achieved, in spite of partial knowledge of the machine parameters.