Employment of the MFC/IMC structure in robust velocity controll of BLDC motor

The main purpose of this article is to present and describe the advantages of the MFC/IMC structure utilization in control of BLDC motor. The results of the analysis included in this work compare two-loop control structure containing internal model of the process with classical single-loop structure with PID controller, which is commonly used in control of industrial motors. In the framework of conducted computational and simulation tests the most important features of both structures from BLDC control point of view such as: sensitivity for load disturbance reduced to the input and output of the plant, tracking the reference value and maximum acceptable perturbations between plant's and model's parameters were compared.