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A PASSIVITY PLUS FLATNESS CONTROLLER FOR THE PERMANENT MAGNET STEPPER MOTOR
Author(s) -
SiraRamírez Hebertt
Publication year - 2000
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1111/j.1934-6093.2000.tb00139.x
Subject(s) - control theory (sociology) , flatness (cosmology) , passivity , pid controller , torque , controller (irrigation) , magnet , control engineering , trajectory , computer science , engineering , control (management) , physics , mechanical engineering , temperature control , agronomy , cosmology , quantum mechanics , artificial intelligence , astronomy , biology , electrical engineering , thermodynamics
A passivity based controller, in suitable combination with the flatness property of the system, is proposed for the effective feedback equilibrium to equilibrium regulation, via planned trajectory tracking, of the angular position in a permanent magnet (PM) stepper motor. The control scheme is shown to be easily modifiable as to include traditional proportional‐integral‐derivative (PID) feedback control actions which efficiently account for unmodeled load torque perturbations.