Robust nonlinear position control of BLDC motor with friction

In this paper, the Control Lyapunov Function (CLF) approach is used for position control of permananent magnet BLDC motors. A nonlinear dynamic DC motor model including the nonlinear friction torque is used. The closed loop control used guarantees the system's stability and achieves the desired behaviour. The robustness of the control method is also proven in regards to the system parameters and to the control parameters which makes it a versatile method with only few control parameters.