Proportional-type performance recovery current tracking control algorithm for PMSM

This study presents a proportional-type non-linear current control algorithm for permanent magnet synchronous motors (PMSMs) with performance recovery and offset-free properties. The contribution falls into two parts. First, the disturbances from the model-plant mismatch are exponentially estimated by the proposed first-order convergent disturbance observers. Second, it is proven that the proposed algorithm guarantees the performance recovery and offset-free properties, also stabilises the first-order internal dynamics that arise from the PMSM speed dynamics. The closed-loop performance was shown by the simulations and experiments by using a 5kW interior PMSM.