Nonlinear Internal Model Based Position Controller Design for Permanent Magnet Synchronous Motor

This paper studies a position tracking control problem of permanent magnet synchronous motor affected by both nonlinear load torque disturbance and certain parameter uncertainties. We first formulate this control problem as a robust output regulation problem of multivariable nonlinear system, where both the desired position and load torque disturbance can be generated by a so-called nonlinear exosystem. Then we propose a nonlinear internal model based output feedback control law to achieve asymptotic tracking of desired position and reject nonlinear external disturbances in the load torque. Simulation results demonstrate the effectiveness of our design.