This repository contains supplementary materials for the paper:
"Enhancing Position Tracking of Hybrid Stepper Motors using Lyapunov-Based Current Controllers"
Published in Electronics .

1. MATLAB/Simulink Models

The simulation models (stepper_model.slx and untitled.m) are developed in MATLAB R2021b. The Simulink model can be directly executed.

2. STM32 Embedded C Code

The firmware supports STM32F407IGT6 microcontrollers. Key components include:

• Algorithm implementation (MotorDrive/Src/): Contains the current-loop interrupt service routines (foc_it.c) and initialization logic (loop.c). The Lyapunov-based controller runs at 35 kHz (current loop) and 3.5 KHz (torque loop).
• Peripheral drivers (MotorDrive/bsp/): Implements UART communication using the JustFloat protocol (usart.c) for data exchange with the VOFA+ host PC tool.

3. Usage Notes

• Code comments are fully documented in English, with explicit references to equations in the paper.
• Hardware-specific configurations (e.g., PWM pins, ADC channels) need to be adapted to your setup.
• Critical parameters (control gains, sampling frequencies) are centralized in parameter.c for easy customization.