Abstract
This paper present a speed control technique for effectively meeting the motion control objective which is
a permanent magnet synchronous motor (PMSM) based on an embedded inside current tracking objectives. The tracking
adaptive backstepping technique. The proposed stabilizing controllers described in this paper fall into the category of a
feedback law for the PMSM is shown to be globally full state-feedback controller with system uncertainty. In this
asymptotically stable in the context of Lyapunov theory. It takes scheme, the system uncertainties and unknown bounded
into account nonlinearities of the system and uncertainties of the . '
parameters. Computer simulations have been carried out in disturbances are taken into account. The adaptive
order to validate the effectiveness of the proposed controller. backstepping control technique based on full state-feedback is
The results show that accurate tracking performance of the designed to overcome system model uncertainties. This is
PMSM has been achieved. especially important to the PMSM drive as electrical
parameters drive tend to vary with the load current as well as
Index Terms - Permanent magnet synchronous motors with the operating conditions such as temperature and
(PMSM), nonlinear control, adaptive backstepping control. saturation,
I. INTRODUCTION
In this paper we illustrate the effectiveness of adaptive
Due to their high efficiency and their simple design, the backstepping technique applicable to the PMSM drive. Using
permanent magnet synchronous motors (PMSM) are Lyapunov stability-type techniques one may guarantee the
interesting in many industrial applications such as robots, global stability of the PMSM drives and nonuniform speed
rolling mills and machine tools. PMSM have lower rotor tracking performance.


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