A 32-Bit DSP Based Backstepping Motion Control System

Novel nonlinear backstepping digital control system is proposed for high-performance motion control systems. It utilizes Lyapunov function to guarantee the convergence of the position tracking error from all possible system transient conditions. The added integrator improves the system´s robustness against the parameter changes and inaccuracy of the modeling, thus improving the steady-state control accuracy. The proposed novel scheme is synthesized by a systematic approach and implemented based on a modern DSP controller, TMS320C32. Experimental results and performance comparison confirm that the proposed scheme offers improved performance in terms of the position trajectory tracking ability to time-varying reference input, system control bandwidth, and robustness against external disturbances