Backstepping dynamic compensator design for the PMAC servo-drive

In the paper the robust tracking control design of high performance PMAC se rvo-drive based on exact feedback linearization and extended with integrato r backstepping is presented. The feedback system is globally asymptotically stable in the sense of Lyapunov direct method for a class of parameter per turbations and disturbances without affecting the relative degree and satis fying strict triangularity conditions (STC). The proposed n-th order dynami c compensator significantly extends the class of nonlinear uncertainties ac ting in the entire electromechanical system for which stable servo-drive op eration is preserved. The physical bounds of control signals and states are also considered.