Tracking of Partially Unknown Trajectories for Permanent Magnet Synchronous Motors

In this paper, an adaptive internal model-based control architecture is designed to deal with an exogenous trajectory tracking problem for a Permanent Magnet Synchronous Motor (PMSM). More in detail, we show how to design a controller able to guarantee the asymptotic tracking of partially unknown exogenous trajectories belonging to a given family, embedding in the regulator the internal model of this family; the control algorithm is able to attain the asymptotic tracking without the knowledge of reference derivatives and exploiting only instantaneous error feedbacks. The theoretical machinery exploited is the nonlinear regulation theory, specialized for the energy-based port-Hamiltonian formalism. The same methodology is proved to be able to deal even with the presence of exogenous voltage disturbances superimposed to the control voltages.