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The present paper is concerned with an improvement of the so-called plant-input-mapping (PIM) discretization as applied to an analog controller that is used in a high-performance commercial driver for stepping motors. The controller employs a linearizing compensator to cancel out the effect of dead-zone nonlinearity that exists in a pulse-width-modulation circuit of the driver, which has been one...
A current regulator in an analog driver for a stepping motor is converted into a digital driver using the so-called plant-input-mapping (PIM) method, with the integral action in the analog controller taken into account. Since the PIM design is model-based, plant models are obtained, their efficacies evaluated, and the robustness of the resulting digital controller to plant uncertainties assessed,...
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