Adaptive backstepping control of linear motor based on Maxwell slip model of friction

The purpose of this paper is to demonstrate possibility of using Maxwell slip model together with adaptive backstepping to improve performance of linear motor velocity control. We consider a simplified model of a permanent magnet linear motor powered by a PWM inverter. We formulate the control algorithm and prove its stability by Lyapunov function approach, and finally we describe several numerical experiments demonstrating maim features of the proposed control and the influence of the parameters.