In this study, an adaptive control scheme with a pre-specified H∞ property is proposed for the tracking control of permanent magnet (PM) synchronous motor drives. Under the influence of uncertainties and external disturbances, by using feed-forward compensation and the introduction of a parameter tuner, the robust performance control problem is formulated as a nonlinear H∞ problem and solved by a quadratic storage function. This new design method is able to track both the step and sinusoidal commands with improved performance in face of parameter perturbations and external disturbances. Simulation and experimental results are provided to demonstrate the effectiveness of the proposed adaptive H∞ control.
- Adaptive H∞ control
- Permanent magnet synchronous motor
- Quadratic storage function
- Riccati equation
- Robust control