Nonlinear H2 velocity control for permanent magnet synchronous motors

This paper presents gain scheduling H₂ controller for speed control of permanent magnet synchronous motors (PMSMs) in the sense of linear parameter varying (LPV) synthesis. First, the nonlinear dynamics of a PMSM is transformed to a LPV system which has state-dependent varying parameters. The proposed method is composed of torque modulation, commutation scheme and H₂ controller based on parameter-dependent system. The stability of closed-loop system is proven by Lyapunov theorem. The proposed method has not only fast velocity tracking performance but also reduced energy consumption. Finally, the effectiveness of the proposed method was validated with experimental results.