A control problem of PM synchronous motor by nonlinear internal model design

This paper studies a speed tracking and nonlinear disturbance rejection problem of PM synchronous motor. By formulating the problem as a robust output regulation problem of multivariable nonlinear system, we propose a robust output feedback control law by nonlinear internal model design. It is also worth mentioning that the control law, can not only achieve asymptotic tracking of desired speed, but also reject nonlinear external disturbances in the load torque, generated by a so-called nonlinear exosystem. Simulation results demonstrate the effectiveness of our design.