Torque balance of coaxial BLDC motor using feedback linearization in presence of cogging torque

This paper presents a solution to mitigate the influences of oscillations without the modification of the electric drives based on the utilization of the nonlinear control technique known as feedback linearization. The advantages of the proposed control method are low cost and straightforward to implement with the microcontroller unit. The effectiveness and robustness of this proposed control are verified through the analysis of simulation results and the comparison with PI control.