Positioning Control of Pm Stepper Motor Based on Type-2 Fuzzy Robust Control

Permanent Magnet (PM) stepper motors are widely used in accurate systems which are affected by external disturbances and parameters uncertainty. Also, an appropriate nonlinear controller is needed when the problem is to track the reference signal. In this paper, a robust adaptive controller is presented to control rotor angular position in stepper motors. The main idea to make a robust controller is to use an adaptive control system based on type-2 fuzzy sets. Finally, simulations are implemented to control stepper motor position in two cases: certain and uncertain equations. Simulation results show that proposed controller has a better performance in tracking and robustness compare to type-1 fuzzy controller.