Nonlinear control of synchronous machines

Control of angular variables in modern synchronous DC motors is approached from the equation of nonlinear integrodifferential type which the variable dynamics are obeying, which simplifies if initial angular value corresponds to an equilibrium value. Then proportional-derivative-acceleration control type structure over angular variable, explicitly given in terms of system parameters, is required to give asymptotic convergence of angular variable toward final value fixed by torque input, except in arbitrarily small intervals around λπ, where exponentially decaying oscillations may persist over resistive time. The control reduces to the usual proportional-derivative one in stationary (nontransient) situations. It is much simpler than usual controls in that no other variable measurement is required