Cascade H ∞ linear parameter varying control of PMSM

A robust cascade control structure using the H ∞ linear parameter varying current controller and the H ∞ speed controller is designed for the permanent magnet synchronous motor. The H ∞ LPV current controller provides fast current tracking using measured rotor speed as a scheduling variable. High load torque disturbance attenuation is achieved using the fixed H ∞ speed controller.