Passivity-based control of the general rotating electrical machine

In this paper we are interested in the output feedback tracking control problem of a general rotating electrical machine model. Our main contribution is the characterization of a class of machines for which a passivity-based controller solves the problem. Roughly speaking, the class consists of machines whose nonactuated dynamics is suitably damped and whose electrical and mechanical dynamics can be decomposed into a cascade systems decomposition (Blondel-Parks transformable), giving the possibility to explicitly characterize a bounded behaviour inside the zero error space. These conditions have a clear physical interpretation in terms of the couplings between the electrical, magnetical and mechanical dynamics of the machine. Examples of machines belonging to this class are the classical Parks machine, the brushless DC motor, and synchronous motors