Position sensorless control of a permanent magnet stepping motor based on a nonlinear observer

This paper presents a position sensorless control of a stepping motor based on a proportional derivative control. The proposed control allows the elimination of the studied actuator position oscillations. The motor speed and position are determined from the motor position back EMF voltages which are estimated by a nonlinear Lipschitz observer by detecting the statoric voltages and currents. The proposed solution avoids the use of a position sensor which is expensive and cumbersome. The simulation results prove the efficiency of the proposed approach.