Design of robust PID controllers for PMSM drive with uncertain load parameter

Permanent magnet synchronous motor (PMSM) drive systems coupled to elastic loads may exhibit instability and poor performance under mechanical uncertainties. Two techniques for tuning the speed controller of a PMSM drive system are proposed and compared in this paper. The first technique is based on the frequency domain and the other exploits evolutionary programming concepts like genetic algorithm. Complexity of both tuning techniques, simulation and experimental results are discussed for PMSM drive system fed with current regulated PWM voltage source inverter.