Adaptive tracking control of a permanent magnet stepper motor driving a mechanical load

The authors present a nonlinear control development that can be used to design an adaptive tracking controller for a permanent magnet (PM) stepper motor driving a mechanical load. This development is based on modern but fundamental concepts quickly identified and understood by most in the control field. The proposed controller compensates for parametric uncertainty in the motor/load model while yielding a global uniform asymptotic stability (GUAS) result for the motor position tracking error. Simulation results are presented to demonstrate the performance of the proposed adaptive tracking controller