Position control of a permanent magnet stepper motor by MISO backstepping in semi-strict feedback form

We present a systematic procedure for designing H∞-optimal adaptive controllers for a class of single-input single-output parametric strict-feedback nonlinear systems that are in the output-feedback form. The uncertain nonlinear system is minimum phase with a known relative degree and known sign of the high-frequency gain. We use soft projection on the parameter estimates to keep them bounded in the absence of persistent excitations. The objective is to obtain disturbance attenuating output-feedback controllers which will track a smooth bounded trajectory and keep all closed-loop signals bounded in the presence of exogenous disturbances. Two recent papers (Pan and Bas¸ar, 1996a; Marino and Tomei, 1995) addressed a similar problem with full state information, using two different approaches, and obtained asymptotically tracking and disturbance-attenuating adaptive controllers. Here, we extend these results to the output measurement case for a class of minimum phase nonlinear systems where the nonlinearities depend only on the measured output. It is shown that arbitrarily small disturbance attenuation levels can be obtained at the expense of increased control effort. The backstepping methodology, cost-to-come function based H∞ -filtering and singular perturbations analysis constitute the framework of our robust adaptive control design scheme.

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Advanced position control design based on linear theory for Permanent Magnet Synchronous motor drive systems

2011 9th IEEE International Conference on Control and Automation (ICCA) ◽

10.1109/icca.2011.6138024 ◽

2011 ◽

Author(s):

Si Wu ◽

Youyi Wang ◽

Shijie Cheng

Keyword(s):

Permanent Magnet ◽

Linear Theory ◽

Position Control ◽

Permanent Magnet Synchronous Motor ◽

Control Design ◽

Synchronous Motor ◽

Motor Drive ◽

Synchronous Motor Drive ◽

Drive Systems

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Application of PLC Pulse Command in the Step Motor Position Control

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.130-134.3954 ◽

2011 ◽

Vol 130-134 ◽

pp. 3954-3957

Author(s):

Liu Wei

Keyword(s):

Motor Control ◽

High Speed ◽

Position Control ◽

Step Motor ◽

Stepper Motor ◽

Equipment Selection ◽

Stepper Motor Control ◽

Key Issues ◽

Pulse Output

Mitsubishi FX2n series PLC's CPU module comes with high-speed pulse output channels. Using these channels, you can achieve position control of stepper motor. This article describes the use of high-speed pulse output instruction on the stepper motor control to achieve the design points. Contents include: key issues of PLC equipment selection, use of pulse command, and the stepper motor selection and setting.

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Stabilization of Nonlinear Strict-Feedback Systems With Time-Varying Delayed Integrators

ASME 2011 Dynamic Systems and Control Conference and Bath/ASME Symposium on Fluid Power and Motion Control, Volume 1 ◽

10.1115/dscc2011-6014 ◽

2011 ◽

Cited By ~ 1

Author(s):

Nikolaos Bekiaris-Liberis ◽

Miroslav Krstic

Keyword(s):

Asymptotic Stability ◽

Global Asymptotic Stability ◽

Closed Loop ◽

Loop System ◽

Time Varying ◽

Feedback Systems ◽

Closed Loop System ◽

Feedback Form ◽

Globally Asymptotically Stable ◽

Strict Feedback

We consider nonlinear systems in the strict-feedback form with simultaneous time-varying input and state delays, for which we design a predictor-based feedback controller. Our design is based on time-varying, infinite-dimensional backstepping transformations that we introduce, to convert the system to a globally asymptotically stable system. The solutions of the closed-loop system in the transformed variables can be found explicitly, which allows us to establish its global asymptotic stability. Based on the invertibility of the backstepping transformation, we prove global asymptotic stability of the closed-loop system in the original variables. Our design is illustrated by a numerical example.

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