Precise PI speed control of permanent magnet synchronous motor with a simple learning feedforward compensation

This paper develops a precise proportional–integral (PI) type control system for repeatable tracking control of a permanent magnet synchronous motor (PMSM) under motor parameter and load torque variations. By adding a very simple learning feedforward term, a conventional PI control system can be enforced to have a perfect tracking performance under model parameter and load torque variations. The convergence and stability of the closed-loop control system response are analytically shown. Finally, the simulation and experimental results are given to verify the effectiveness of the proposed PI-type learning control law under the uncertainties such as motor parameter and load torque variations using a prototype PMSM drive system.