Speed and current regulation for uncertain PMSM using adaptive state feedback and backstepping control

Nonlinear adaptive speed and d-axis current control schemes based on adaptive state feedback and backstepping technique are proposed for a permanent magnet synchronous motor(PMSM). In the controller design, adaptive state feedback and backstepping control approach using the parameter dependant Lyapunov function is adopted to derive the control scheme, which is robust to the all parameter uncertainties and the load torque disturbance, force the whole control system to have the output strictly passivity. Moreover, because of using a parameter dependant Lyapunov function, proposed controller has no singularity problem. Simulation results clearly show that the proposed control scheme can regulate the speed and the d-axis current reference under all parameter uncertainties and the load torque disturbance.