Feedback linearization control of PMSM based on differential geometry theory

In this paper, it is proved that 3-order nonlinear model of PMSM can be exactly linearized using Differential Geometry Theory. Through diffeomorphism coordinate transformation and nonlinear state feedback, the nonlinear motor model is decoupled into two linear sub-systems: speed system and current system, and an active disturbance rejection controller is designed respectively. The on-line simulation results based on dSPACE illustrate the feasibility of this design method. This permanent magnet synchronous servo system possesses good stable and dynamic performance.