Abstract
The application of modern nonlinear control theory to the fast and accurate positioning of stepper motors is discussed. The mathematical model of a permanent magnet stepper motor is presented. Control algorithms based on the recently developed feedback linearization approach are presented and contrasted with current techniques. Methods to determine the unknown motor parameters in real-time and normal operation are also discussed. These allow for straightforward extensions of the control algorithms to adaptive control. An experimental setup to evaluate the performance of the overall system is described.
| Original language | English |
|---|---|
| Pages (from-to) | 531-532 |
| Number of pages | 2 |
| Journal | Proceedings of the IEEE Conference on Decision and Control |
| Volume | 1 |
| State | Published - 1989 |
| Event | Proceedings of the 28th IEEE Conference on Decision and Control. Part 1 (of 3) - Tampa, FL, USA Duration: 13 Dec 1989 → 15 Dec 1989 |