Velocity Control of Permanent Magnet Stepper Motor Using Nonsingular Terminal Sliding Mode Controller

Abstract

In this paper, we used Nonsingular Terminal Sliding Mode controller for improving the velocity and currents tracking control performance of Permanent Magnet Stepper Motor. Compare to conventional Sliding Mode controller, the state which was implemented by the proposed method can arrive the manifold in finite time. The closed-loop stability of the NTSM has been proven by Lyapunov function in this paper. With the proposed method, we can improve the reference velocity tracking performance and reduce chattering. From simulation results, we observed that the reference tracking error converges into equilibria.