Robust Deadbeat Controller Design using PSO for Positioning a Permanent Magnet Stepper Motors


This paper presents an application of a robust deadbeat controller for permanent magnetstepper motor. This approach has been considered in order to assure robust stability andperformance (disturbance rejection, reference tracking) with the presence of systemparameters uncertainty. The Particle Swarm Optimization (PSO) is used to tune thecontroller parameters by minimizing the cost function subject to H-infinity constraints.It is shown that the designed deadbeat controller presents simple, low order, and robustposition control for a permanent magnet stepper motor. A two-phase motor isconsidered in this paper.