This paper proposes an iterative auto-tuning algorithm for PI controllers in permanent magnet synchronous motor (PMSM) drive systems. The controller gains are initially set using motor-parameter-based formulas derived from pole–zero cancelation, providing a theoretical first-order approximation. To address discrepancies caused by practical non-idealities such as delays, nonlinearities, and unmodeled dynamics, the proposed method iteratively refines the gains based on real-time measurements of time-domain performance indices. In each iteration, rise time, peak time, and percent overshoot are evaluated against predefined target values, and gain compensation terms are calculated accordingly. These compensations are applied to update the controller gains until all performance indices fall within the desired range, at which point the tuning process terminates automatically. The effectiveness of the proposed algorithm is validated through both MATLAB/Simulink simulations and real-time hardware experiments, demonstrating significant improvements in transient response, overshoot suppression, and closed-loop stability compared to conventional tuning approaches.
Bae et al. (2025) studied this question.