Adaptive backstepping position control for a linear DC brushless motor

This paper develops methodology and technique for design, analysis and PC-based implementation of an adaptive backstepping position control system for a linear DC brushless motor. A simplified model of the linear DC brushless motor is introduced. With this model, an adaptive backstepping control law with integral action is proposed to achieve position tracking control, assuming that the upper bounds of the ripple force and nonlinear friction are known. Based on the Lyapunov theorem and Barbalat Lemma, the closed-loop controlled system is proven to be asymptotically stable. Both computer simulations and experimental results demonstrate the feasibility and efficacy of the proposed scheme for position control of a linear DC brushless motor.