Design of a Position Controller for PMSM with Compensation of Nonideal Back-EMF Effect

This paper focuses on the position control of permanent magnet synchronous motor (PMSM) and proposes a control framework based on adaptive robust control (ARC) as a solution. Slightly different from the conventional one, a novel PMSM model considering nonideal back-EMF effect is first developed, which is subject to parametric uncertainties and uncertain nonlinearities. An adaptive robust controller with guaranteed tracking performance is then described. The proposed controller can compensate the effect of nonideal back-EMF and other parametric uncertainties adaptively, while the uncompensated disturbances and the estimation errors also can be handled. The tracking performance of the proposed control algorithm for position control of PMSM is evaluated by simulation results.