Backstepping dynamic compensators design for the PMAC servodrive

In the paper the robust tracking control design of high performance PMAC servodrive based on exact feedback linearisation and extended with integrator backstepping is presented. The feedback system is globally asymptotically stable in the sense of Lyapunov for a class of parameter perturbations and disturbances without affecting the relative degree and satisfying strict triangularity conditions (STC). The designed dynamic compensators of order n significantly extend the class of nonlinear uncertainties acting on the entire electromechanical system for which robust control can be systematically designed. The physical bounds of the control signal and states can also be considered.