Backstepping speed control of PMSM based on equivalent input disturbance estimator

This paper presents an improved equivalent input disturbance estimator to solve the influence of unmeasured disturbance on permanent magnet synchronous motors (PMSM). Backstepping controller is designed and the combination of the state observer and the low-pass filter is used in the estimator. The controller and estimator satisfy the separation principle by using the estimator presented. The simulation results show that the design method can overcome the shortcomings of long settling time compared with the traditional method and improve the disturbance rejection performance.