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For the technology of mechanical elastic energy storage utilizing spiral torsion springs as the energy storage media presented previously, a global multivariable control algorithm based on nonlinear internal model principle under multiclass external disturbances is proposed. The nonlinear external disturbances with nonharmonic periodic characteristics are generated by multiclass nonlinear external systems. New equations of nonlinear internal model are designed to estimate the multiclass external disturbances. On the basis of constructing the control law of nominal system, a state feedback controller is designed to guarantee the closed-loop system globally uniformly bounded, and a Lyapunov function is constructed to theoretically prove the global uniform boundedness of the multivariable closed-loop system signals. The simulation results verify the correctness and effectiveness of the presented algorithm

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Global Multivariable Control of Permanent Magnet Synchronous Motor for Mechanical Elastic Energy Storage System under Multiclass Nonharmonic External Disturbances