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The authors present a new pre-compensator used for control of a stepping motor in the oscillation-damping type full-step drive system. The compensator is a low-pass filter, in which the cut-off frequency varies with reference speed variation, and is used for adjustment of reference angle waveform. The effect of this system for rotor oscillation damping is verified by the experiment.Keywords: stepping motor, full-step drive, pre-compensator, rotor oscillation damping 1.(1) (2) (3) 2.(2) 2 * 010-8502 1-1 Dept. of Electrical and Electronic Engineering, Faculty of Engineering and Resource Science, Akita University 1-1, Tegata Gakuen-machi, Akita 010-8502(1)1 1 ω r ω r 536

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