Trajectory tracking for permanent magnet synchronous motors

In this paper an adaptive internal model based control scheme is designed to deal with an exogenous trajectory tracking problem for a permanent magnet synchronous motor. More in detail we show how to design a controller able to guarantee the perfect asymptotic tracking of unknown exogenous trajectories belonging to a certain family, embedding in the regulator the internal model of this family; the theoretical machinery exploited in order to prove the global asymptotical stability of the proposed solution is the nonlinear regulation theory, specialized for the energy-based port-Hamiltonian formalism.