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In this paper, we propose a method of enhanced nonlinear damping control for a class of singularly perturbed interconnected nonlinear systems (SPINSs). Instead of simply canceling out the interconnection between slow and fast subsystems, the proposed method transforms SPINS into a feedback connection of two output strictly passive subsystems. Then, enhanced nonlinear damping is implemented to improve...
We present a new approach to position control based on microstepping for the current regulation of permanent magnet stepper motor (PMSM), which consists of a Lyapunov-based controller and a passive nonlinear observer for output feedback controller design. It is shown, theoretically and by the means of experiments, that the Lyapunov-based controller with a passive nonlinear observer results in better...
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