Nonlinear velocity tracking controls for axial flux permanent Magnet Motors

In this study, we present the design and analysis of two nonlinear controllers for the axial flux permanent magnet (AFPM) motors. Specifically, an exact model knowledge controller that ensures exponential velocity tracking and an adaptive controller that ensures the velocity tracking error signal asymptotically converges to zero despite the uncertainties in both the motor and the load dynamics. Stability and performance results obtained via a Lyapunov based analysis in conjunction with the backstepping design approach. Numerical simulations for an AFPM motor under constant load are presented to demonstrate the performance and feasibility of the proposed method.