Robust Control Method f or PMSM Based o n Internal Model Control w ith Speed a nd Load Torque Estimator

A Robust controller designed by employing internal model control (IMC) is presented for permanent magnet synchronous motor (PMSM) drive with estimation of both the rotor speed and the load torque with a predictive state observer. It is to achieve accurate control performance in the presence of uncertainties and system parameters variation. The Experimental results prove that the IMC controller with the presence of the predictive state observer greatly improves the performances of the speed loop and simplifies the design procedure. The robustness of this scheme is analysed, and the bounds of control parameters that ensure the drive stability are obtained.