Robust current controller for PM synchronous motor

This paper presents design of robust current controller. It takes the motor parameters as uncertain values. Comparing with other approaches it takes into account imprecision of decoupling which linearizes the motor model. The controller design uses error signals between coupling and decoupling terms and treats them as uncertainties. This approach preserves the linearity for the price of treating model as multivariable system with uncertainties. The current generating part is treated as TITO system. The current controller is designed using μ-synthesis by D-K iterations. The obtained controller is of a high order therefore its order is reduced. The paper shows the simulation results of designed controller and also the overall behavior of the vector control algorithm with PID speed controller and robust current controller.