Adaptive and integral control of PMSM with uncertainties and disturbances in the port-controlled Hamiltonian framework

An adaptive and integral control scheme of permanent magnet synchronous motors (PMSM) is presented in the port-controlled Hamiltonian (PCH) framework. A speed tracking controller is firstly designed for a nominal PMSM model with IDA-PBC approach, and then a second control term is developed to compensate for control errors that are caused by unknown or uncertain parameters, finally a third integral control term is provided to deal with the unknown disturbance. The closed-loop system stability is analyzed by passivity in the PCH framework. Simulation results are also given to validate the control scheme.

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