Full Adaptive Integral Backstepping Controller for Interior Permanent Magnet Synchronous Motors

This paper examines the speed control issue for fully unknown Interior Permanent Magnet Synchronous Motors (IPMSMs). A full adaptive controller is proposed to control the speed of these motors while all physical parameters, adaptive variation bounds, and the load torque are unknown. Applying a four-step backstepping strategy, which constructs the infrastructure of the whole controller design, and utilizing proper Lyapunov functions leads to generating proper adaptive control rules. The desired control performance is basically satisfied by rejection of the load torque and motor uncertainties. Optimizing the performance criteria, integral tracking error signals have been taken into account in the backstepping procedure in order to enhance the efficiency, robustness, and reduced steady-state errors. The closed-loop system stability is analyzed and proved utilizing Lyapunov and Barbalat lemmas. To evaluate the high performance of the designed controller, an illustrative example is simulated whereas the obtained results confirm the efficient treatment of the proposed method for the fully unknown system. The comparison of the simulation results with one of the recent papers in the literature verifies the effectiveness of the proposed method.