Speed Tracking Control Based on Backstepping of Permanent Magnet Synchronous Motor with Uncertainty

For permanent magnet synchronous motor system with constant parameter uncertainties and external disturbances, a novel adaptive robust backstepping tracking control scheme based on the dynamic surface control method is proposed in this paper. This method combines the robust adaptive backstepping design step with first order low-pass filters, and can be applied without differentiating any model nonlinearities, thus ending the complexity arising due to the explosion of terms that makes other methods difficult to implement in practice. The proposed adaptive robust controller guarantees the asymptotical semi-global stability of closed-loop system, such that the system output can track well the given desired trajectory. In addition, the final tracking accuracy could be adjusted via certain controller parameters. In order to verify the performance of the deduced controller, numerical simulations are presented. The simulation results show that the proposed controller can obtain the prescribed output tracking transient performance, and owns robustness for the system uncertainties.