A PASSIVITY PLUS FLATNESS CONTROLLER FOR THE PERMANENT MAGNET STEPPER MOTOR

A passivity based controller, in suitable combination with the flatness property of the system, is proposed for the effective feedback equilibrium to equilibrium regulation, via planned trajectory tracking, of the angular position in a permanent magnet (PM) stepper motor. The control scheme is shown to be easily modifiable as to include traditional proportional‐integral‐derivative (PID) feedback control actions which efficiently account for unmodeled load torque perturbations.