Experimental Results of Parameter Identification and Nonlinear Control on a PM Stepper Motor

  • Michael Aiello
  • Ronald Rekowski
  • Marc Bodson
  • John Chiasson
  • David Schuerer
Part of the Microprocessor-Based Systems Engineering book series (ISCA, volume 6)


This paper discusses the application of modern nonlinear control theory to the fast and accurate positioning of permanent magnet (PM) stepping motors. The mathematical model of a PM stepper motor is given and a control algorithm based on the recently developed feedback linearization approach which uses only position measurements form an optical encoder is described. Furthermore, a least squares parameter identification algorithm to determine the resistance, inductance, torquelback-emf constant, moment of inertia and viscous friction coefficient of the motor are presented.

The identification and control algorithms are implemented on an experimental set-up consisting of the Motorola DSP56001ADS Digital Signal Processing System, a personal computer, two PWM amplifiers, and a PM stepper motor. The results of the identification and control algoritms are presented.


Stepper Motor Optical Encoder Switch Reluctance Motor Exact Linearization Digital Signal Processing System 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer Science+Business Media Dordrecht 1991

Authors and Affiliations

  • Michael Aiello
    • 1
  • Ronald Rekowski
    • 1
  • Marc Bodson
    • 2
  • John Chiasson
    • 3
  • David Schuerer
    • 3
  1. 1.Aerotech, Inc.PghUSA
  2. 2.Department of Electrical and Computer EngineeringCarnegie Mellon UniversityPghUSA
  3. 3.Department of Electrical Engineering, 348 BEHUniversity of PittsburghPghUSA

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