Robust interconnection and damping assignment energy-based control for a permanent magnet synchronous motor using high order sliding mode approach and nonlinear observer

Several advantages are provided by the permanent magnet synchronous motor (PMSM) over DC motors and is gradually replacing them in industry. The dynamics of the PMSM can be described by time-varying non-linear equations considering unknown external disturbances (load). However, the control task is complicated due to the associated constraints. Non-linear controls are required to correct for non-linearities, external disturbances, and parametric fluctuations. This paper investigates a new robust interconnection and damping assignment passivity-based control (IDA-PBC) paired with a non-linear observer technique and the dq-frame model of the PMSM. The IDA-PBC method has the advantage of not canceling non-linear features but compensating them in a damped manner. The proposed IDA-PBC is in charge of creating the system's desired dynamic, while the nonlinear observer is in charge of reconstructing the measured signals in order to force the PMSM to track speed. The main contribution of this paper is to synthesize the controller while taking into account the PMSM's entire dynamic and making the system passive. It is achieved by rearranging the energy of the proposed IDA-PBC and inserting a damping factor that compensates the non-linear terms in a damped rather than canceled manner, so establishing a duality concept between the observer and the IDA-PBC. IDA-PBC can be computed in three ways: parametrically, nonparametrically, and algebraically. To control the PMSM's speed, the parameterized IDA-PBC approach is employed. In general, the presented candidate outperforms the conventional IDA-PBC in terms of resilience, speed of convergence, efficiency, and high robustness. The efficiency of the proposed technique is investigated numerically using MATLAB/Simulink software.