Adaptive tracking control of a brushless DC motor driving an inertial load

The tracking problem for a brushless direct current (BLDC) motor driving a load is addressed. Based on the nonlinear models of the motor and load, an adaptive controller is presented which gives a global uniform asymptotic stability (GUAS) result for motor position/velocity tracking error. The control is capable of handling parametric uncertainty throughout the entire electromechanical system dynamics. Simulation results are used to illustrate the effectiveness of the proposed controller.<
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