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Adaptive Nonlinear Backstepping Control

Authors: Sun Lim, Bong-Seok Kim


This paper presents an adaptive nonlinear position controller with velocity constraint, capable of combining the input-output linearization technique and Lyapunov stability theory. Based on the Lyapunov stability theory, the adaptation law of the proposed controller is derived along with the verification of the overall system-s stability. Computer simulation results demonstrate that the proposed controller is robust and it can ensure transient stability of BLDCM, under the occurrence of a large sudden fault.

Keywords: Backstepping control, BLDC Motor Control, Adaptive nonlinear control

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