Robust Linear Control of (Chaotic) Permanent-Magnet Synchronous Motors With Uncertainties

We solve the problem of set-point (respectively, tracking) control of a permanent-magnet synchronous motor vialineartime-invariant (respectively, time varying) control. Our control approach is based on the physical properties of the machine: inherent stability and robustness to external disturbances. Our analysis is carried out under mild conditions, usingcascadedsystems theory. For all cases: constant operating point, trajectory tracking, and with known and unknown load, we show uniform global asymptotic stability of the closed-loop system with a linear controller that uses only velocity measurements. Furthermore, we explore natural extensions of our results to improve robustness with respect to external ldquodisturbancesrdquo and parametric uncertainties.