ADAPTIVE CONTROL OF STEPPER MOTORS VIA NONLINEAR EXTENDED MATCHING

Abstract The problem of accurate positioning control of permanent magnet stepper motors with sinusoidal flux distribution is considered. The load torque and the resistance of each stator phase winding are assumed to be unknown. A nonlinear adaptive control scheme is proposed which guarantees global tracking of desired position trajectory and global convergence of the estimated parameters. Simulation results are included.

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