Unified approach to adaptive nonlinear control of stepper motors

Hemant Melkote, Farshad Khorrami

Research output: Contribution to journalConference articlepeer-review


In this paper, a robust adaptive nonlinear controller for various types of stepper motors is presented. The control design is applicable to both variable reluctance and permanent magnet stepper motors. It is also shown that the methodology is applicable to other peculiar configurations of stepper motors (e.g., Sawyer motors). Furthermore, the motors may be either rotary or linear. To this end, a general electromechanical model of stepper motors is utilized. The model is comprised of the mechanical dynamics and electrical dynamics of the motor including the effects of cogging, viscous friction, winding resistances or other uncertainties. The robust adaptive design is based on our earlier work and does utilizes backstepping in the case that voltage level control is used rather than current controls. Simulation studies are presented to show the efficacy of the control design approach.

Original languageEnglish (US)
Pages (from-to)2495-2500
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - 1997
EventProceedings of the 1997 36th IEEE Conference on Decision and Control. Part 1 (of 5) - San Diego, CA, USA
Duration: Dec 10 1997Dec 12 1997

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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