Adaptive position control of a PMSM drive

This paper proposes a self-tuning control system for the positioning of a PM synchronous motor. The auto-tuning control system is realized with a conventional position P-regulator, a derivative position feedback with adjustable gain, and a new online estimator, based on the extended Kalman filter theory, which provides the estimates to update the gains and the feedforward load compensation term. Simulation results demonstrate that the adaptive control system maintains the desired control over position in the presence of varying mechanical parameters