Real time implementation of a robust controller for PMSM drive system using H∞ norm

This paper presents a robust speed and current controllers scheme of a Permanent Magnet Synchronous Motor (PMSM). It is to achieve an accurate control performance in the presence of load torque and plant parameter variations. Application of H∞ technique for controllers synthesis creates proper characteristics to ensure controller robustness. The proposed controller is based on the PMSM model linearization and takes into account motor parameters uncertainties. A methodology for the multivariable robust controller synthesis is presented in the paper. It relies on the application of H∞ control with the use of weighting functions. The simple and practical control scheme is then easily implemented on a PMSM driver using a dSPACE 1104. The effectiveness of the proposed multivariable robust speed control approach is demonstrated by experimental results.