On-line self-tuning of PI controller for PMSM drives based on the iterative learning control

A novel on-line self-tuning of PI speed controller is given for AC servo drive. Based on iterative learning control (ILC), the proposed scheme has solved the problem of uncertain input-output relationship. Like artificial operation, the proposed scheme can improve its control quality according to historical control experience. The feasibility and validity of the method has been proved on permanent magnet synchronous motor (PMSM) servo system.