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This note shows that the industry standard desired equilibrium for permanentmagnet synchronous motors (i.e., maximum torque per Ampere) can be globallyasymptotically stabilized with a PI control around the current errors, providedsome viscous friction (possibly small) is present in the rotor dynamics and theproportional gain of the PI is suitably chosen. Instrumental to establish thissurprising result is the proof that the map from voltages to currents of theincremental model of the motor satisfies some passivity properties. Theanalysis relies on basic Lyapunov theory making the result available to a wideaudience.

Permanent Magnet Synchronous Motors are Globally Asymptotically Stabilizable with PI Current Control