This brief presents an active disturbance rejection control scheme for the angular velocity trajectory tracking task on a substantially perturbed, uncertain, and permanent magnet synchronous motor. The presence of unknown, time varying, and load-torque inputs, unknown system parameters, and the lack of knowledge of the initial shaft's angular position, prompts a high-gain generalized proportional integral (GPI) observer-based active disturbance rejection (ADR) controller. This controller is synthesized on the basis of the differential flatness of the system and the direct measurability of the system's flat outputs, constituted by the motor's angular displacement and the d-axis current. As a departure from many previous treatments, the d-q-axis currents model is here computed on the basis of the measured displacement and not on the basis of the unknown position. The proposed high-gain GPI observer-based ADR controller is justified in terms of a singular perturbation approach. The validity and robustness of the scheme are verified by means of realistic computer simulations, using the MATLAB/SIMULINK-PSIM package.

This paper is concerned with the design and implementation of a robust position backstepping tracking controller for a permanent magnet synchronous motor (PMSM). The information on the angular position and velocity, provided by a classical resolver-to-digital converter, additionally employs a phase lock loop (PLL) circuit. A backstepping control law is designed from the input-output linearization of the PMSM model, written in d-q coordinates. This controller is adapted via the online estimation of the unknown load torque and friction effects. A linear extended state observer is devised for this purpose, thus ensuring high closed-loop performance of the motor trajectory tracking task. An input-state stability analysis of the entire system is also provided. Cosimulation via the MATLAB/Simulink-PSIM package, including realistic measurement disturbances, is used to investigate the stability and accuracy of the proposed control algorithm. Experimental results are provided.

This paper presents the design of a robust nonlinear adaptive controller for trajectory tracking maneuvers of the nonminimum phase output voltage on a dc-to-dc “boost” power converter with uncertain time-varying parameters. The unknown parameter variations concern both the resistive load and the input voltage supply value. A generalized proportional-integral (GPI) indirect control, exploiting the flatness property of the system, performs fast adaptations on the feedback controller and on the desired output reference trajectory owing to a fast online algebraic parameter identification procedure. The required updating of the algebraic parameter identification process is periodically triggered to cope with the time variations of the unknown plant parameters. The proposed control scheme is shown to be quite effective for handling the significant plant uncertainties when tested through experiments on a laboratory prototype. An adaptive linear quadratic regulator optimal control based on feedback linearization was designed in order to compare its performance against that of the proposed GPI adaptive scheme. An integral square error index was used for the evaluation.

This paper presents an active disturbance rejection (ADR) approach for the control of a buck-boost-converter feeding a dc motor. The presence of arbitrary, time-varying, load torque inputs on the dc motor and the lack of direct measurability of the motor's angular velocity variable prompts a generalized proportional integral (GPI) observer-based ADR controller which is synthesized on the basis of passivity considerations. The GPI observer simultaneously estimates the angular velocity and the exogenous disturbance torque input in an on-line cancellation scheme, known as the ADR control. The proposed control scheme is thus a sensorless one with robustness features added to the traditional energy shaping plus damping injection methodology. The discrete switching control realization of the designed continuous feedback control law is accomplished by means of a traditional PWM-modulation scheme. Additionally, an input to state stability property of the closed-loop system is established. Experimental and simulation results are provided.

This paper presents a comparison between two stabilizing average output feedback controllers implemented on a field programmable gate array (FPGA) facility. A generalized proportional integral (GPI) controller and a proportional integral derivative (PID) controller are implemented using an FPGA, and their respective performances are duly compared. The GPI controller is found to present a better dynamic response than the PID controller in terms of the settling time while exhibiting a greater degree of robustness regarding disturbance rejection represented by severe changes in static and dynamic loads. The average controllers and their corresponding pulsewidth modulation actuators are implemented using a Spartan 3E1600 FPGA.

An algebraic approach is presented for the fast feed-forward adaptation of the angular velocity trajectory tracking task in a Boost-converter driven dc-motor system. For the adaptation, the load torque perturbations are assumed piecewise constant and are, nonasymptotically, online estimated using the available noisy measurements of the state variables. The controller is a linear controller based on the exact tracking error dynamics passive output feedback (ETEDPOF) controller design methodology including suitable adaptive feed-forward precompensation depending explicitly on the precisely estimated torque. The performance of the adaptation, which is achieved by means of the algebraic online-estimation of the current unknown load torque, is successfully validated in an experimental laboratory setup.