The paper presents discrete time sliding mode control (DSMC) for permanent magnet (PM) stepper motor which is known to be differentially flat system. Discretization of continuous time model of the stepper motor has been carried out and linearizing outputs are selected. Discrete state variables and control inputs are obtained in terms of linearizing outputs and their higher order differences. Linearized equations for the system are thus obtained and auxilary control is designed using reaching law approach. Then the actual control is obtained in terms of flat output and state variables. It is shown that system states reach to zero from given initial conditions. © 2003 EUCA.

Bijnan Bandyopadhyay

Department of Electrical Engineering

IIT Jodhpur

V. Thakar

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Journal	European Control Conference, ECC 2003
Publisher	Institute of Electrical and Electronics Engineers Inc.