Robust Control of Permanent Magnet Synchronous Motor

The aim of this paper is to present design of robust current controller, its validation in the environment of Matlab Simulink and its verification on a real motor using rapid prototyping system dSpace 1103. The worst case scenario in current generating part of permanent magnet synchronous motor is considered for controller synthesis. The current controller is designed using mu synthesis so as to reach defined degree of robust performance for defined variations of motor parameters. The controller design takes into account time delays caused with discretization and with finite computational time of the control algorithm. The designed controller was checked if it meets proposed requirements in the whole speed operating range. Paper also shows dependency of controller reduced order on sensitivity function template from the perspective of reached control performance.