A model reference adaptive control based speed controller for a surface-mounted permanent magnet synchronous motor drive

This paper designs a simple model reference adaptive control based speed controller (MRAC-SC) for a surface-mounted permanent magnet synchronous motor drive. The proposed adaptive scheme is designed to track a reference model that ensures the desired exponential decay of a controlled speed error trajectory. Also, the proposed MRAC method includes an adaptive compensating control term and a stabilizing feedback control term. The former is proposed to compensate for uncertain model parameters (i.e., inertia, friction, and load torque) and the latter is constructed to asymptotically stabilize the error dynamics. The asymptotic stability of the closed loop is guaranteed with both control terms using the Lyapunov approach. The comparative studies between the proposed MRAC-SC, the nonadaptive model reference speed controller, and the conventional proportional-integral SC are performed to justify a fast transient response, a good tracking possibility, and robustness against the parameter uncertainties of the proposed MRAC technique.