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- W3146768997 abstract "In the past few years very efficient mathematical models for the stepping motor have been developed (l) (2) . The particularity of this models is that they give good results even at high kequencies. Many control algorithms based on the proposed reference models have been developed and tested on stepping motors. 131 (4). The mechanical load is considered constant. The control robustness has never been analysed with this type of control methods driving stepping motors. However, the robust control algorithms could permit the use of stepping motor in robotics. In this paper the robust control method for the non linear systems (stepping motors with variable load) is proposed. The load variations are relatively importants and the control robustness is obtained by limiting the global performances. The authors have realised only the first approach to the robust control. Very large non linearities of reference model don't permit classical robust control analysis and synthesis, then the conuol law is obtained by simulation methods. It is also possible to linearize the reference model and to use standard robust control methods but this approach disables the control at high fiequencies. In the first time the reference model and the maximal torque control method (optimal control for the stepping motor) are presented, leading to definitions of the stepping motor safety range and safety factor. Then, from the safety range definition, robustness criterion is obtained. This criterion is based on the statoric phases commutation positions. Finally the numerical simulation of the stepping motor control with important mechanical load variations is given." @default.
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- W3146768997 date "1994-01-01" @default.
- W3146768997 modified "2023-09-23" @default.
- W3146768997 title "NON LINEAR SYSTEM ROBUST CONTROL - APPLICATION ON A STEPPING MOTOR" @default.
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