Robust integral backstepping control of PMSM for electric vehicle application

This paper is concerned with the design of a robust position Backstepping tracking controller for a permanent magnet synchronous motor (PMSM). A Backstepping control law is designed from the input-output linearization of the PMSM model, written in d-q coordinates. This controller is adapted via the estimation of the unknown load torque and friction effects. A linear extended state observer is devised for this purpose, thus ensuring high closed-loop performance of the motor trajectory tracking task. The application of this control technique is focused on electric vehicles. The simulation results under the Matlab/Simulink software demonstrate the effectiveness and robustness of the control strategy adopted.