The tracking control problem associated with brushless DC motors (BLDCMs) for high-performance applications is considered. To guarantee their high-dynamic-performance operation in motion control systems, the magnetic saturation and reluctance variation effects are accounted for in the BLDCM mathematical model. The trajectory tracking control problem is addressed in the context of the transformation theory of nonlinear systems. A nonlinear control law is implemented and shown to compensate for the nonlinearities of a BLDCM. A case study is presented in which a direct-drive inverted pendulum actuated by a BLDCM is used to investigate the effectiveness of the control law. The effectiveness of the proposed control in compensating for modeling errors, external disturbances, and measurement errors is demonstrated

Meeting Name

28th IEEE Conference on Decision and Control, 1989


Mechanical and Aerospace Engineering

Keywords and Phrases

DC motors; brushless DC motors; direct-drive inverted pendulum; high-performance applications; machine control; magnetic saturation; motion control systems; nonlinear control; nonlinear control systems; nonlinear systems; reluctance variation; tracking control; trajectory tracking control; transformation theory

Document Type

Article - Conference proceedings

Document Version

Final Version

File Type





© 1989 Institute of Electrical and Electronics Engineers (IEEE), All rights reserved.

Publication Date

01 Jan 1989