Adaptive internal model control of permanent magnet synchronous motor drive system

An adaptive internal model control method, which is formed by incorporating adaptive control and internal model control, is proposed to control the speed of the permanent magnet synchronous motor (PMSM) in this paper. The rule of adaptive law is obtained by using Lyapunov stability theory in order to make the parameters of plant model approach the parameter of the controlled plant and gradually equal it. Meanwhile, the controller parameters can be adjusted online according to the internal model parameters. Simulation results show that the proposed adaptive internal model controller provides high-performance dynamic and static characteristics. Furthermore, comparing with the conventional internal model controller, it is more robust with regard to plant parameter variations and external load disturbance