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This paper investigates the design of a robust output-feedback linearparameter-varying (LPV) gain-scheduled controller for the speed regulation of asurface permanent magnet synchronous motor (SPMSM). Motor dynamics is definedin the $\alpha - \beta$ stationary reference frame and a parameter-varyingmodel formulation is provided to describe the SPMSM nonlinear dynamics. In thiscontext, a robust gain-scheduled LPV output-feedback dynamic controller isdesigned to satisfy the asymptotic stability of the closed-loop system and meetdesired performance requirements, as well as, guarantee robustness againstsystem parameter perturbations and torque load disturbances. The real-timeimpact of temperature variation on the winding resistance and magnet fluxduring motor operations is considered in the LPV modelling and the subsequentcontrol design to address demagnetization effects in the motor response. Thecontroller synthesis conditions are formulated in a convex linear matrixinequality (LMI) optimization framework. Finally, the validity of the proposedcontrol strategy is assessed in simulation studies, and the results arecompared to the results of the conventional field-oriented control (FOC)method. The closed-loop simulation studies demonstrate that the proposed LPVcontroller provides improved transient response with respect to settling time,overshoot, and disturbance rejection in tracking the velocity profile under theinfluence of parameter and temperature variations and load disturbances.

Robust Linear Parameter Varying Output Feedback Control of Permanent Magnet Synchronous Motors