Disclosed are an apparatus and a method for controlling a position of a permanent magnet-type stepper motor based on a singular perturbation theory, capable of simplifying a configuration of a controller by eliminating the necessity of a current controller or a current sensor of a high frequency bandwidth. The method for controlling a position of a permanent magnet-type stepper motor comprises the steps of receiving a target position, a target sped, and a target angular velocity with respect to a stepper motor, applying the same to a feed forward (FF) controller, measuring a position of the stepper motor, and applying the same to a proportional integral derivative (PID) controller; calculating target torque through the FF controller and the PID controller and calculating a target current using the calculated target torque; compensating for a resistant component by using the calculated target current, and measuring a position and a velocity of the stepper motor to generate a motor input voltage including counter electromotive force compensation; and applying the generated motor input voltage to the stepper motor.;COPYRIGHT KIPO 2015
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