Constructing method for internal model controller of radial generalized inverter of bearingless permanent magnet synchronous motor

The invention discloses a constructing method for an internal model controller of a radial generalized inverter of a bearingless permanent magnet synchronous motor. A complex controlled object is constructed by connecting an extended current tracking inverter in front of a radial position system of a controlled bearingless permanent magnet synchronous motor in series as a whole; a generalized inverter system of the complex controlled object is constructed by four linear links and nonlinear mapping and is connected in front of the complex controlled object in series to form a generalized pseudo-linear system, and the generalized pseudo-linear system is equaled into two decoupled second-order displacement linear subsystems; an internal model controller is constructed by respectively introducing two displacement internal model controllers for the two second-order displacement linear subsystems, the two displacement internal model controllers are connected in parallel, and the internal model controller of the generalized inverter is formed by combining the internal model controller, a generalized inverter system and the extended current tracking inverter. Large-scale linearization, decoupling and order reduction of the system can be realized, and the radial position system of the bearingless permanent magnet synchronous motor has excellent static and dynamic characteristics.