Robust backstepping tracking controller for low speed PMSM positioning system: Design, analysis, and implementation

This article is concerned with the design and implementation of a robust position trajectory tracking controller for a permanent magnet synchronous motor (PMSM). The information on the angular position, provided by a classical resolver, is here complemented with an observer based phase lock loop (PLL) circuit which accurately renders the position and the angular velocity of the rotor. A Backstepping control law is designed from the input-output linearization of the PMSM model, written in d-q coordinates. This controller is adapted through a load torque and friction reduced order observer to ensure high closed loop performance of the motor. An input-state stability analysis of the entire system is also provided. Co-simulation via the MATLAB/Simulink-PSIM package, including realistic measurement disturbances, are used to investigate the stability and accuracy of the proposed control algorithm. The simulation results are examined and confirmed through laboratory experiments.