Interconnection and Damping Assignment approach for reliable PM synchronous motor control

The goal of this paper is to design a high performance speed controller for a PMSM drive. The controller is passivity based using the energy shaping technique namely Interconnection and Damping Assignment. Under some assumptions, a linear controller is derived associated to a non linear observer to estimate the load torque which is unknown. The important point developed in this paper is the proof of the global stability, which is mandatory in a drive especially in embedded or transportation applications where reliability is a key issue. Simulation and experimental results prove the feasibility of the approach.