This paper presents the grey backstepping controller and adaptive backstepping controller for synchronous reluctance motor (SynRM) drive to track periodic position reference command trajectories. The backstepping controller can achieve good performance and reject any bounded of the external disturbance and parameter variations in SynRM drive system. In general, the conventional backstepping control design method is assumed that the upper boundary of parameter variations and external disturbances are known and the sign function is used. Therefore, it causes high frequency chattering and high gain phenomenon. In order to avoid the drawbacks, first, we use the grey backstepping control to reduce the high gain phenomenon. Furthermore, the adaptive backstepping control is used which has not high frequency chattering and high gain phenomenon drawbacks. Finally, we employ the experiments to validate the proposed method.
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