A Nonlinear MPC Scheme for Output Tracking Without Terminal Ingredients

The synchronous coordinates complex-vector proportional-integral (PI) controller is a high-performance current controller for vector-controlled ac motors, which is designed based on the continuous domain motor models. However, the application of digital signal processors in motor control necessitates the conversion of continuous domain models to discrete domain models. Moreover, the digital control itself has delay effects. Therefore, the original performance of continuous-domain-designed current controllers may be degraded. In order to improve the deteriorative performance, this article proposes corresponding delay compensation schemes for the forward Euler, backward Euler, and trapezoidal method discretized complex-vector PI controllers, respectively, which are analyzed based on discrete domain models. The root locus, frequency characteristics, and bandwidth are utilized to evaluate the performance of these three discretized controllers at the low switching frequency. Finally, the simulation and experimental results validate the analysis and the delay compensation methods proposed in this article.