Self-tuning gains of PI controllers for current control in a PMSM

In this paper, a self-tuning proportional plus integral (PI) controller is proposed for current control in a permanent magnet synchronous motor system (PMSM). Based on the Lyapunov stability theorem, the self-tuning laws are derived and the coefficients of the PI controllers can be suitably adjusted to deal with uncertainties and external disturbances. Thus, the on-line tuned coefficients can force the tracking error to approach zero. The system robustness, as well as stability is proven. In addition, the proposed self-tuning laws are very simple and can be effectively implemented. Numerical simulation demonstrates the effectiveness of the proposed control algorithm.