Adaptive control of stepper motors without current measurements

P. Krishnamurthy, F. Khorrami

Research output: Contribution to journalConference articlepeer-review


In this paper, a robust adaptive nonlinear dynamic controller is designed to achieve practical stabilization for position tracking error of a voltage-fed permanent-magnet stepper motor. The control design is an output-feedback design that utilizes only rotor position and velocity measurements. Currents are not available for feedback. Furthermore, adaptations are utilized so that no knowledge of motor parameters is required. The proposed controller is robust to load torques, friction, cogging forces, and other disturbances satisfying certain bounds. The controller also guarantees asymptotic stabilization and set-point regulation if the torque disturbances vanish at the setpoint. This represents the first output-feedback (i.e., no current measurements) results with all motor parameters assumed unknown. These results can also be extended to other classes of motors.

Original languageEnglish (US)
Pages (from-to)1563-1568
Number of pages6
JournalProceedings of the American Control Conference
StatePublished - 2001
Event2001 American Control Conference - Arlington, VA, United States
Duration: Jun 25 2001Jun 27 2001

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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