Real-time nonlinear adaptive backstepping speed control for a PM synchronous motor

A real-time nonlinear adaptive speed control scheme based on backstepping control technique is proposed for a permanent magnet synchronous motor. In the controller design, the input-output feedback linearization is firstly used to compensate the nonlinearities in the nominal system. Then, adaptive backstepping control approach is adopted to derive the control scheme, which is robust to the parameter uncertainties and load torque disturbance. Simulation and real-time experimental results clearly show that the proposed control scheme can track the speed reference signal generated by a reference model successfully under parameter uncertainties and load torque disturbance without singularity and overparameterization.