Robust Backstepping Control With Integral Action of IPM Synchronous Motor

This paper is concerned with the design of a robust position Backstepping tracking controller with integral action for an interior permanent magnet synchronous motor (IPMSM). A Backstepping control law is designed from the input-output linearization of the IPMSM model, written in d-q coordinates. This controller is adapted via the estimation of the unknown load torque and friction effects. A linear extended state observer is devised for this purpose, thus ensuring high closed-loop performance of the motor trajectory tracking task. The simulation results under the Matlab/ Simulink software demonstrate the effectiveness and robustness of the control strategy adopted.