Robust speed control of permanent magnet synchronous motors: design and experiments

This paper applies the H^∞ loop shaping design procedure to design a robust speed controller for permanent magnet synchronous motors. The weighting functions are particularly chosen to obtain a controller with a simple PI structure. A torque observer is also employed to reduce the load torque disturbance and the effects of motor and mechanical parameter variations. All of the control algorithms are implemented by the TMS320C30 digital signal processor. Experimental results show that the PI H^∞ controller plus torque observer is robust against system parameter variations, and provides good speed performance even under large load disturbances