Position control of a PMSM using conditional integrators

We study the application of the "conditional integrator" technique to position control of a permanent magnet stepper motor. This is a recent approach to the output regulation of minimum-phase nonlinear systems, that results in better transient performance over conventional integral control. Global regulation results are provided for state-feedback control and semi-global results under output-feedback. Simulation results show that good tracking performance is achieved, in spite of partial knowledge of the machine parameters.