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Sensorless speed and position estimation in a stepper motor

In this paper, the application of the extended Kalman filter (KF) to estimate the states of a stepper motor is described. A dynamic model, describing the operation of a two- phase stepper motor, was derived and used for sensorless speed and position measurement. The simulation results of full state estimation, using full order extended Kalman filter, is presented. The effects of noise and the sensitivity of the algorithm to motor parameters are thoroughly investigated.