Enhanced interconnection and damping assignment passivity-based control for PM synchronous motors

Permanent Magnet Synchronous Motors (PMSMs) are widely employed in high-performance drive applications due to their superior efficiency and dynamic capabilities. However, their control remains challenging owing to nonlinear dynamics, parameter variations, and unmeasurable external disturbances, particularly load torque fluctuations. This study proposes an enhanced Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) scheme, formulated within the port-controlled Hamiltonian (PCH) framework, to address these limitations. A nonlinear disturbance observer is embedded to estimate and compensate, in real time, for lumped mismatched disturbances arising from parameter uncertainties and external loads. Additionally, a flatness-based control strategy is employed to generate the desired current references within the nonlinear drive system, ensuring accurate tracking of time-varying speed commands. This integrated approach preserves the system’s energy-based structure, enabling systematic stability analysis while enhancing robustness. The proposed control architecture also maintains low complexity with a limited number of tunable parameters, facilitating practical implementation. Simulation and experimental results under various operating conditions demonstrate the effectiveness and robustness of the proposed method. Comparative analysis with conventional proportional-integral (PI) control and standard IDA-PBC strategies confirms its capability to handle disturbances and maintain dynamic performance.