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The mathematical model for permanent magnetic toroidal motor is established in this paper, which based on the analysis of the structural features and the principle of electromagnetic transmission. The corresponding state equation is derived from the mathematical model. In order to improve the disturbance rejection ability, an active disturbance rejection controller for speed loop and current loop is designed. The controller is applied to perturbation analysis about the performance of the motor under a constant load and a load of a triangle wave respectively. And the control system is built in Simulink for simulation experiment, which achieves a good control effect.

In this paper, we study an output regulation problem to realize the tracking of ramp signals and triangular wave signals for an electromagnetic torsional micromirror. First, we find out that the problem can meet some standard conditions such that the micromirror is capable of tracking ramp signals. Then we turn the robust output regulation problem of the micromirror into the robust stabilization problem of the augmented system by internal model design. Finally, we design a regulation controller for the problem by BLF(Barrier Lyapunov Function) technique, to realize the tracking of triangular signals for the nonlinear system with constraint transient performance.