Internal Model Based Framework for Tracking and Fault Tolerant Control of a Permanent Magnet Synchronous Motor

In this paper an adaptive internal model based control scheme is designed to deal with tracking and input disturbance suppression problems for a permanent magnet synchronous motor. More in detail we show how to design a controller able to guarantee the perfect asymptotic tracking of unknown exogenous trajectories belonging to a certain family, embedding in the regulator the internal model of this family; the theoretical machinery exploited in order to prove the global asymptotical stability of the solution exposed is the nonlinear output regulation theory, specialized for the energy-based portHamiltonian formalism. Copyright c ©2005 IFAC.