ABSTRACT
This chapter develops a load position tracking controller for the electromechanical model of a Permanent Magnet Synchronous (PMS) motor driving a position-dependent load under the assumptions that only load position measurements are available and that an exact model for the electromechanical system dynamics can be determined. It utilizes an observed-integrator backstepping procedure to design a PMS output feedback controller. Specifically, by utilizing the structure of the PMS electromechanical system, nonlinear observers are estimated to estimate the load velocity and the stator current. The chapter uses a Lyapunov-like argument to prove that the open-loop observers ensure that the load velocity and stator current observation errors converge to zero exponentially fast. It then illustrates that all of the internal signals inherent to the observers remain bounded as long as the controller is designed properly. Finally, experimental results are utilized to illustrate the performance of the proposed controller.
