Cascade model predictive control of a PMSM with periodic disturbance rejection

This paper develops a cascade Model Predictive Control (MPC) structure to provide speed control for a Permanent Magnet Synchronous Motor (PMSM). The MPC design is based on the linearized per unit model of the nonlinear PMSM dynamics. Hildreth´s procedure is employed to solve the quadratic programming problem with constraints imposed. The extension of MPC to include more frequency modes for the application of periodic disturbance rejection due to the current sensor offset is also described. Finally, an illustrative simulation example is given.