Comparison of a feedback linearization controller and sliding mode controllers for a permanent magnet stepper motor

The permanent magnet stepper motor (PMSM) is considered for use in high-accuracy positioning system upon effect of parametric uncertainties, external disturbances and a control saturation. The traditional sliding mode control, the method of system center, and the dynamic sliding manifolds were applied to the high accuracy position controller design for a PMSM. The "boundary layer" approach was employed to eliminate the control chattering. The performances of the system with the designed sliding mode controllers and the system with a feedback linearization controller were compared on the basis of the computer simulation. The sliding mode controller demonstrated the higher robustness to parametric variations and external disturbances than the feedback linearization controller.