A systematic procedure for the design of adaptive partial state feedback position tracking controllers for electric machines

This paper demonstrates the design of adaptive partial state feedback controllers for the permanent magnet stepper (PMS). The approach taken is to use the general design technique presented by Kanellakopoulos et al. to first design an adaptive output-feedback controller for the mechanical subsystem of the PMS motor, which due to the similarities between the motors will be valid for many motor types. In the second design step a commutation strategy and the corresponding voltage control inputs are designed to ensure that the desired torque is delivered to the mechanical subsystem. The result is an adaptive, partial state feedback controller for each motor type that achieves position tracking while compensating for parametric uncertainty throughout the entire electromechanical system. The proposed controllers operate from measurement of rotor position and stator winding currents only. A global asymptotic position tracking error result is obtained through a Lyapunov-type stability analysis. The design is fully detailed for the PMS motor controller. Experimental results are provided for each motor type to validate the position tracking performance of the proposed controllers