Adaptive back-stepping speed Tracking controller for a Brush-less DC motor with a SM observer for back EMFs

This paper proposes a robust speed tracking controller design for Brush-less DC Motor (BLDC) under parametric uncertainness based on the combination of a sliding modes (SM) observer and adaptive back-stepping control techniques. The adaptive controller developed in this work in combination with the SM observer allows also a reduction on the torque rippling since electrical torque is controlled in an indirect way based on the obtained estimates of the back EMFs. The effectiveness of the proposed controller is demonstrated by simulations with MATLAB/SIMULINK.