Adaptive backstepping controller design for servo motor

Variations in motor parameters and load disturbances significantly impact system stability, especially during low-speed operation, resulting in degraded performance. To mitigate this challenge, an adaptive backstepping control method is utilized to track the angular velocity and stator current of servo motors with uncertain parameters. This approach facilitates real-time estimation of stator resistance, viscous friction coefficient, and load torque, while maintaining system stability amid parameter fluctuations. Numerical simulation results have verified the effectiveness of the proposed control scheme.