@inproceedings{0e4e8580f20d48e88b208e310203b1d7,
title = "Flatness-based MIMO control of hybrid stepper motors - Design and implementation",
abstract = "Hybrid stepper motors are often used as actuators in automation and handling. To overcome their main drawbacks, step-wise motion and poor robustness against load disturbances, closed loop control can be applied. The concept of differential flatness offers powerful tools for a wide range of linear and nonlinear systems. The differential flatness property of the nonlinear MIMO model of a hybrid stepper motor is proven and a flat output is determined constructively as solution to a set of partial differential equations. By use of the flat output, an asymptotic tracking control is designed and evaluated in simulation and experiments.",
keywords = "Feedback linearization, Mechatronics, Nonlinear systems",
author = "Benjamin Henke and Alexandra Rue{\ss} and Rudiger Neumann and Michael Zeitz and Oliver Sawodny",
year = "2014",
doi = "10.1109/ACC.2014.6858602",
language = "English",
isbn = "9781479932726",
series = "Proceedings of the American Control Conference",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "347--352",
booktitle = "2014 American Control Conference, ACC 2014",
address = "United States",
note = "2014 American Control Conference, ACC 2014 ; Conference date: 04-06-2014 Through 06-06-2014",
}