Iterative Learning Control with Extended State Observer for PMSM Speed Regulation under Aperiodic Disturbances

This paper concentrates on the high precision tracking problem of speed regulation for the permanent magnet synchronous motor (PMSM) with aperiodic load disturbances. With the increasing demands of high control accuracy, an open-loop iterative learning control (ILC) based on closed-loop extended state observer (ESO) with proportional differential (PD)-type learning law is proposed to suppress disturbances from being carried into the iteration. Firstly, the ESO is established, and then the open-loop ILC design is carried out according to the ESO. The ESO is designed to be of linear form, which makes its design more convenient and easier to implement in hardware. By choosing the PD-type learning law, satisfactory speed tracking can be achieved as few iterations as possible. The convergence of the proposed ESO-based ILC algorithm is ensured, and the corresponding mathematical derivation is provided. The validity and feasibility of the proposed algorithm are substantiated by the simulations for PMSM.