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A novel, advanced position controller design for an interior permanent magnet synchronous motor control system is proposed. The input–output linearisation technique is used to transfer the system model into a linearised system model. Then, based on the linearised system model, an H∞ controller is designed to achieve robust performance of the position control system. To improve the system performance, a load estimator is used to compensate the external load and the influence of the parameter variations as well. In addition, a maximum torque/ampere control is applied to increase the output torque of the motor. A digital signal processor, TMS 320LF2407, is used to execute the speed-loop and position-loop control algorithms. As a result, the hardware circuit is quite simple. Several experimental results show that the proposed system has fast transient responses, good load disturbance rejection responses and good tracking responses.
Lin et al. (Thu,) studied this question.