{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,13]],"date-time":"2025-10-13T15:29:24Z","timestamp":1760369364008},"reference-count":35,"publisher":"World Scientific Pub Co Pte Lt","issue":"11","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J CIRCUIT SYST COMP"],"published-print":{"date-parts":[[2017,11]]},"abstract":"<jats:p> This paper is inspired on the structure of the field-oriented control by presenting an analytical and practical study of an adaptive nested controller for trajectory tracking control of a permanent magnet synchronous motor (PMSM) driving a single-link arm. The originality of the new approach relies in the use of adaptive control to compensate the electrical and mechanical dynamics and in the presentation of a rigorous closed-loop system stability analysis based on Lyapunov theory. It is worthwhile to notice that the new controller resembles the pure field-oriented control except for the adaptive terms. The new scheme is compared with other methodologies as with the classical nonadaptive field-oriented control algorithm and with an adaptive controller proposed in the literature. A better tracking accuracy is obtained with the proposed adaptive scheme. <\/jats:p>","DOI":"10.1142\/s0218126617501687","type":"journal-article","created":{"date-parts":[[2017,4,13]],"date-time":"2017-04-13T01:54:42Z","timestamp":1492048482000},"page":"1750168","source":"Crossref","is-referenced-by-count":11,"title":["Lyapunov-Based Adaptive Control for the Permanent Magnet Synchronous Motor Driving a Robotic Load"],"prefix":"10.1142","volume":"26","author":[{"given":"Javier","family":"Moreno-Valenzuela","sequence":"first","affiliation":[{"name":"Instituto Polit\u00e9cnico Nacional-CITEDI, Av. Instituto Polit\u00e9cnico Nacional, No. 1310, Mesa de Otay, Col. 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