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A nonlinear mathematical model for the dynamics of permanent magnet synchronous machines with interior magnets is discussed. The model of the current dynamics captures saturation and dependency on the rotor angle. Based on the model, a flatness-based field-oriented closed-loop controller and a feed-forward compensation of torque ripples are derived. Effectiveness and robustness of the proposed algorithms are demonstrated by simulation results.

Nonlinear Modelling, Flatness-Based Current Control, and Torque Ripple Compensation for Interior Permanent Magnet Synchronous Machines