Integrated-criterion-based PI parameter tuning for a permanent magnet synchronous motor servo system using an improved multi-verse optimizer

To improve the tracking performance and dynamic response of a permanent magnet synchronous motor servo system, this study investigates a performance-oriented parameter-tuning framework for the controllers in the servo loops. Rather than proposing a new control structure, the work focuses on the formulation and solution of the tuning problem under stringent requirements on both transient and steady-state performance. A comprehensive optimization criterion is established by jointly considering overshoot, settling time, and steady-state error from a global performance perspective. Based on this criterion, an improved multi-verse optimizer with nonlinear parameter scheduling and an inertia-weight mechanism is employed to search for controller parameters with a better balance between exploration and exploitation. The proposed tuning framework is evaluated on a MATLAB/Simulink co-simulation platform under tracking and load-disturbance conditions. Simulation results indicate that, compared with the baseline tuning method, the optimized controller parameters can improve dynamic response characteristics and reduce overshoot and steady-state error. Nevertheless, the present validation is limited to co-simulation, and hardware-level experimental verification will be pursued in future work to further assess practical applicability.