Analysis of adaptive robust backstepping control schemes for PM synchronous motors

This paper develops two adaptive robust control schemes for permanent magnet synchronous motors. Taking into account the variation ranges of system parameters, the adaptive robust methods achieve good tracking performance despite parametric uncertainties of the entire electromechanical dynamics. It is shown that by using switching functions, the global stability of the control system is achieved. To avoid discontinuous control laws which may cause problems in both theoretical and practical aspects, a continuous adaptive robust control method with a μ-modification scheme is further developed and analyzed, which guarantees the uniform boundedness of the system tracking error. Simulation based comparative study demonstrates the similar system tracking performance of two control schemes associated with different control authorities