A Hybrid Sensorless Observer for the Robust Global Asymptotic Flux Reconstruction of Permanent Magnet Synchronous Machines

We propose a hybrid sensorless observer for permanent magnet synchronous machines with global asymptotic stability guarantees. Exploiting the constraint of the rotor flux on a circle of unknown radius, we design an integrator system with periodic jumps triggered by a clock to generate a linear regression containing the flux estimation error. Then, a normalized projected gradient descent identifier provides the observer estimates. For the closed-loop system, it is shown that there exists a robustly globally asymptotically stable compact attractor, which, additionally, ensures zero estimation error if appropriate Persistency of Excitation (PE) conditions are satisfied. In this respect, sufficient conditions ensuring PE are provided for the angular speed and the clock period.