Position tracking control of a switched reluctance motor using partial state feedback

Abstract

In this paper, we design a position tracking controller for a switched reluctance (SR) motor driving a robotic load. A global exponential stability (GES) result for rotor position tracking error is obtained by utilizing the nonlinear model of the SR motor and an observed integrator backstepping procedure. The control only requires measurement of rotor position and motor winding current; however, exact model knowledge of the entire electromechanical dynamics is required. Simulation results are given to illustrate the effectiveness of the proposed controller.