Internal Model Based Adaptive Speed Controller Design for PMSM Servo System

Recently, the output regulation approach has been successfully applied to the speed tracking and disturbance rejection of permanent magnet synchronous motor (PMSM). The existing results need to assume that the parameters of the exosystem are known which implies that the frequencies of load torque disturbance are known. In this paper, we further study a speed tracking control problem of PMSM under unknown frequency disturbance and parameter uncertainties. Firstly, we formulate the speed tracking control problem as an adaptive out- put regulation problem, where the reference speed and unknown frequency disturbance can be generated by a linear unknown exosystem. Then, we propose an internal model-based adaptive speed control method to achieve high precision speed tracking and disturbance rejection of the PMSM servo system. Simulation results validate the effectiveness of our method.