Backstepping Approach of Adaptive Control, Gain Selection and DSP Implementation for AC Servo System

Nonlinear adaptive backstepping control of AC servo system is developed. A systematic approach is presented to derive the new nonlinear control scheme. A digital control system is designed and implemented based on a low-cost DSP controller, TMS320C32. The selection guideline for the control gains is presented. The control system can achieve satisfactory performance in position tracking and load estimation.