Adaptive partial state feedback stabilization of a class of electromechanical systems via immersion and invariance

In this article we propose an adaptive partial state feedback controller, which uses only measurement of the electrical coordinates and of the mechanical position, for asymptotic position regulation of a class of electromechanical systems. The controller design relies on the asymptotic reconstruction of a stabilizing full information controller derived via the interconnection and damping assignment passivity-based control method. Detailed calculations for a permanent magnet (PM) synchronous motor are presented.