Sliding mode control of a PM stepper motor from the perspective of differentially flat systems

In this paper, the sliding mode control of a permanent magnet (PM) stepper motor is addressed from the perspective of differentially flat systems. A static and a dynamic discontinuous feedback control schemes are proposed. Implementation results of these control schemes on an experimental set-up are given to illustrate the developments. Both, the results of the single stepping and multi-stepping cases are shown. In addition, comparisons of the performances of the two sliding mode control schemes with the performance of a feedback linearization control scheme are given.