A linearized model for permanent magnet stepper motors

This paper deals with the linearization of a nonlinear model of permanent magnet stepper motors. The linearization method is based on an optimization technique when considering the asymptotic behavior of the system. It turns out that the method approximates the nonlinear vector field even in the critical case, when the Jacobian matrix contains at least an eigenvalue with the real part equal to zero. Numerical simulations show good agreement of the linearized model with the highly nonlinear model of the motor. We suggest some possible model-based applications of the linearized system.