Proportional-Integral-Derivative position control of variable reluctance stepper motor

The accurate positioning problem of the variable reluctance stepper motor is considered. On the basis of the non-linear distributed parameters model, the PID controller is designed that guarantees execution of the desired angle displacement, feeding back the rotor position signal. Simulations compare the performance of the step response signals including main of the quality index in time domain. Applying the high voltage to the winding until acceptable current is reached and then dropping the voltage to the level that maintains maximum current value can be efficient way to improve the performance of the stepping motor.