Integrator backstepping techniques for the tracking control of permanent magnet brush DC motors

An integrator backstepping technique is introduced for the design of high-performance motor controllers. The approach is applied to the design of embedded computed torque and output feedback controllers for permanent magnet brush DC (BDC) motors. The proposed controllers are simulated and experimentally verified on a user-developed digital signal processor (DSP) based data acquisition and control (DAC) system. Although the BDC motor is well researched, the results motivate extensions of the proposed techniques to the development of similar controllers for more complex electromechanical systems, such as separately excited DC, permanent magnet stepper, brushless DC, switched reluctance, and AC induction servo motors