Real-time implementation of ℋ∞ LPV controller for PMSM drive

A robust linear parameter variant current controller operating in wide range of rotor speeds is designed for permanent magnet synchronous motor. Wide speed range is achieved without increasing the conservatism often caused by rotor speed uncertainty. Rotor speed is used as a scheduling variable and the controller adjusts itself to any change of this varying parameter. Current controller is designed using ℋ_∞ synthesis modified for linear parameter variant systems. Later the linear parameter variant current controller is discretized using Euler´s method for linear parameter variant systems and implemented on dSPACE DS1103 real-time simulation platform. Resulting linear parameter variant current controller governs the stator currents as specified by performance weight and in conjunction with PI speed controller it performs flawlessly in entire operating range of rotor speeds.