Speed tracking and nonlinear disturbance rejection of PM synchronous motor by 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 based on internal model design. It is worth mentioning that the control law, can not only achieve asymptotic tracking of desired speed, but also reject nonlinear external disturbance in the load torque, generated by a so-called nonlinear exosystem. Simulation results will also be provided to demonstrate the effectiveness of our design.