The tracking control problem via state feedback for uncertain current-fed permanent magnet step motors with non-sinusoidal flux distribution and uncertain position-dependent load torque is addressed: a periodic reference signal (of known period) for the rotor position is required to be tracked. A robust iterative learning control algorithm is designed which, for any motor initial condition and without requiring any resetting procedure, guarantees, despite system uncertainties: exponential convergence of the rotor position tracking error to a residual ball (centered at the origin) whose radius can be made arbitrarily small by properly setting the learning gain; asymptotic convergence of the rotor position tracking error to zero. A sufficient condition for the asymptotic estimation of the uncertain reference input achieving, for compatible initial conditions, perfect tracking is derived. Robustness with respect to a finite memory implementation of the control algorithm based on the piecewise linear approximation theory is shown to be guaranteed; satisfactory performances of a discrete-time implementation of the control algorithm are obtained in realistic simulations for the full-order voltage-fed motor.

Bifaretti, S., Tomei, P., Verrelli, C.m. (2011). A global robust iterative learning position control for current-fed permanent magnet step motors. AUTOMATICA, 47(1), 227-234 [10.1016/j.automatica.2010.10.048].

A global robust iterative learning position control for current-fed permanent magnet step motors

BIFARETTI, STEFANO;TOMEI, PATRIZIO;VERRELLI, CRISTIANO MARIA
2011-01-01

Abstract

The tracking control problem via state feedback for uncertain current-fed permanent magnet step motors with non-sinusoidal flux distribution and uncertain position-dependent load torque is addressed: a periodic reference signal (of known period) for the rotor position is required to be tracked. A robust iterative learning control algorithm is designed which, for any motor initial condition and without requiring any resetting procedure, guarantees, despite system uncertainties: exponential convergence of the rotor position tracking error to a residual ball (centered at the origin) whose radius can be made arbitrarily small by properly setting the learning gain; asymptotic convergence of the rotor position tracking error to zero. A sufficient condition for the asymptotic estimation of the uncertain reference input achieving, for compatible initial conditions, perfect tracking is derived. Robustness with respect to a finite memory implementation of the control algorithm based on the piecewise linear approximation theory is shown to be guaranteed; satisfactory performances of a discrete-time implementation of the control algorithm are obtained in realistic simulations for the full-order voltage-fed motor.
Pubblicato
Rilevanza internazionale
Articolo
Esperti anonimi
Settore ING-INF/04 - Automatica
English
Learning control; Global robust control; Step motor; Output tracking
Bifaretti, S., Tomei, P., Verrelli, C.m. (2011). A global robust iterative learning position control for current-fed permanent magnet step motors. AUTOMATICA, 47(1), 227-234 [10.1016/j.automatica.2010.10.048].
Bifaretti, S; Tomei, P; Verrelli, Cm
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/2108/49829
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