Cascade H∞ linear parameter varying control of PMSM

A robust cascade control structure using the H
_∞
linear parameter varying current controller and the H
_∞
speed controller is designed for the permanent magnet synchronous motor. The H
_∞
LPV current controller provides fast current tracking using measured rotor speed as a scheduling variable. High load torque disturbance attenuation is achieved using the fixed H
_∞
speed controller.