Backstepping dynamic compensator design for the PMAC servo-drive

In the paper the robust tracking control design of high performance PMAC servo-drive based on exact feedback linearization and extended with integrator backstepping is presented. The feedback system is globally asymptotically stable in the sense of the Lyapunov direct method for a class of parameter perturbations and disturbances without affecting the relative degree and satisfying strict triangularity conditions (STC). The proposed n-th order dynamic compensator significantly extends the class of nonlinear uncertainties acting in the entire electromechanical system for which stable servo-drive operation is preserved. The physical bounds of control signals and states are also considered.