Novel robust control with disturbance rejection for permanent magnet synchronous motors and experimental validation

A novel robust control strategy is proposed in this work to address the dynamic control problem of permanent magnet synchronous motors (PMSM) position tracking and lessen the effect of system parameter and load fluctuations on the dynamic performance of PMSM. The tracking performance is improved by a robust control element built with the Lyapunov method to reduce the impact of uncertain factors such as parameter uncertainty, nonlinear friction, and external interference; the nominal control element is stabilized by the dynamics model. The uniformly bounded and uniformly final bounded systems are proven, and the associated conclusions are provided using the Lyapunov minimax approach. In this work, modeling and experimental investigation are conducted using the cSPACE fast controller, based on the permanent magnet synchronous motor test platform. The results of the testing and simulation show that the developed controller can effectively regulate the permanent magnet synchronous motor and achieve more accurate position tracking even in the face of ambiguity.