Model-free Control of Passive Systems with Application to In-Wheel Synchronous Machine Control

This paper presents an approach to model-free control of passive systems applicable to speed control of a DC synchronous machine. The approach addresses systems whose uncertainty does not change the passivity property of the process. We prove the conditions for passivity of the interconnected system. We apply the strategy to control the angular velocity of a wheel-integrated brushless DC machine (BLDC). Simulation and experimental results show the effectiveness of the algorithm and support the theoretical results. The algorithm was implemented on DSP TMS320f28379d and tested on a test bench with a 500W rated BLDC.