T.

C
SELUK NVERSTES
FEN BLMLERENSTTS

Sensorless Control For Permanent

Magnet Synchronous Motor

Hazrlayan :Abbas ANWER

Danman : Do. Dr. Osman BLGN
Blm:elektrik-elektronik mhendislii

Outline:
Abstract
1. introduction
1.1- Classification of Permanent Magnet Motors
1.2 Permanent magnet materials
1.3 PMSM Advantages and Applications
2.Modeling of PMSM
1-Electrical Model of IPMSM
2-Electrical Model of SPMSM
3- Mechanical Model Of PMSM
3.General hardware to design PMSM control system
3.1- Inverter
3.1.1 Design techniques of inverters
3.1.1.1 sinusoidal Pulse width modulation (SPWM)
3.1.1.2 SPACE VECTOR PULSE WIDTH MODULATION (SVPWM)
3.1.1.3 Hysteresis current controller
3.2 Position Sensor
3.2.1 Encoders
3.2.2 Resolvers
3.4 Speed and current controller

4-CONTROL STRATEGIES
4.1 SCALAR CONTROL
4.2 vector control
4.2.1 Direct Torque Control (DTC)
4.2.2 Field oriented control (foc)
4.2.2.1 Constant Torque Operation
4.2.2.2 Flux-weakening
5 -STRATEGIES FOR SENSORLESS POSTION ESTIMATION OF PMSM
5.1- Back EMF-Based Methods
5.2- Flux Linkage-Based Method
5.3- Linear State Observers
5.4- non-linear State Observers
5.5 . MODEL REFERENCE ADAPTIVE CONTROL system (mras )
5.6 high frequency signal injection
6-practical implementation on PMSM
6.1- ModelSim/Simulink Co-simulation Method
6.2- Finite State Machine method (Microsemi SoC FPGAs)
7-simulation of PMSM by using MRAS method

number of poles of the motor

stator resistance.

P
Rs

d- and q- axis stator self inductance

Ld, Lq

Average inductance. Ls = (1/2) (Lq + Ld)

Ls

Inductance fluctuation. Lx = (1/2) (Lq Ld)

Lx

flux linkage due to permanent magnet.

electrical angle between a-axis and q-axis in

degrees

self inductance of winding

Lso

the leakage inductance of winding

Lsl

Angle between q and d axis

(Ld+Lq)/2

L0

(Ld-Lq)/2

L1

Abstract

PMSM used in many application because his distinctive advantages, such

as: high efficiency, high-power density and the decreasing in the costs of
this types of motors.
The PMSM require two current sensors and a rotor position sensor for
implementation of any developed control strategy.
The sensors increases the cost, size, weight, and wiring complexity and
reduces the mechanical robustness and the reliability of the overall
PMSM drive systems.
develop a rotor position/speed senssorles (encoderless ) control system
with performance comparable to the sensor-based control systems for
PMSMs over their entire operating range.

1. Introduction

PMSM is an AC synchronous motorwhose field excitation is provided by

permanent magnets
used in many applications :home appliances, hybrid electric
vehicles, .
close to BLDC but with sinusoidal back EMF.
sensors are important to control the PMSM.
These sensors, however, cause space problem , risk for failure.
remove some of these sensors by using sensorless techniques .

Fig 1 : Hybrid Electric Vehicle (HEV)

Fig 2 : position sensor in HEV

1.1- Classification of Permanent Magnet Motors

PMSMs with sinusoidal back electromotive force

these machines have a sinusoidal back EMF and it classified into :
1-nonsalient-pole PMSMs or surface PMSM (SPMSM)
SPMSM are dominate class of PM in the world
specifcation :Ld = Lq, uniform effective air gap, magnetic torque, used in low-speed
applications
disadvantage :mechanical strength is weaker than IPM motors especially in the high
speed region.

fig 3 : Rotor structures of SPM motors

2-salient-pole PMSMs or interior-type PMSM (IPMSM).

The magnets are placed inside the rotor
Because of PM in the flux path, the d-axis and q-axis inductances are different from
each other (Ld Lq).
These types of motors are more expensive and complex than the surface mounted
motors.

Fig 4:Rotor structures of IPM motors

1.2 Permanent magnet materials

in the past steel was used to manufacture PM motors.
today the PMSM are used (ferrites) in air conditioners and the (NdFeB, SmCo)
magnets in the HEVs
SmCo magnets have higher flux density ,heat resistant, however, very expensive.
NdFeB magnets most common, cheaper but low strength.
1.3 Why IPMSM motor
has a good overload capability over the entire speed range.
high power density, high efficiency
extending the torque/speed operating region by proper field weakening control
techniques.

2 -Modeling of PMSM
The voltage equation for PMSM is
vabcs = rs. iabcs + (d/dt)(abcs)..(2.1)
abcs = Labc.iabcs +m
abcs :the flux in the stator
m:PM flux

fig 5 :inductances in PMSM

The PMSM stationary torque equation is :

T = (P/6) (Lq - Ld) [ { (Ia2- 0.5 Ib2- 0.5 Ic2-Ia Ib Ia Ic + 2 Ib Ic) sin 2+ (3/2) (Ib2 + Ic22Ia Ib + 2 Ia Ic) cos 2} + m { (Ia - 0.5 Ib - 0.5 Ic) cos + (3/2) (Ib - Ic) sin }]. (2.2)
when :
Lq = (3/2) ( Lso + Lx) + Lsl
Ld = (3/2) ( Lso - Lx) + Lsl.

clarck and park transformation :

fa
1

1
/
2

1
/
2

f 2
fb
f 3

0 3 / 2 3 / 2 fc

fd cos sin f
fq sin
f
cos

fa
fd
2 cos cos( 120) cos( 120)

fq
sin sin( 120) sin( 120) fb.............(2.4)
3

fc

2.1-Electrical Model of IPMSM

Vq = Rs Iq + d/dt(q)+ r d..........(2.5)
Vd = Rs Id + d/dt(d) - r q............(2.6)

rotor reference frame

V=RI+d/dt().............................(2.7)
V=RI+d/dt().............................(2.8)
;; q=Lq.Iq d=Ld.Id+ m

station reference frame

or it could represent in state space equation :

d
Vd
id

dt
Ld
d
vq
iq
dt
Lq

Rs
Lq
m
.id
.iq.wr
.......... .......... .......... ...( 2.9)
Ld
Ld
Ld
Rs
Ld
m
.iq
.id .wr
.wr .......... ....( 2.10)
Lq
Lq
Lq

the IPM motor can also be represent it in a stationary frame:

I
v L L d i
sin r
..........(2.9)
v L
i R I r m

L
dt

cos) r
) , L=L0L=L0+L1cos(2
L1cos(2 ) , L=L1sin(2
the torque equation of ipm motor :
T e= (3/2) (P/2) (m Iq + (Ld - Lq) Iq Id )........(2.11)
:when Lq>Ld
the torque in IPMSM consists from magnetic torque and the reluctance torque
components.

2.2-Electrical Model of SPMSM

the voltage and flux equations in SPM motor will be :
Vq = Rs Iq + d/dt (q) + r d..........(2.11)
Vd = Rs Id + d/dt(d) - r q............(2.12)

v R (d / dt ) Ls
v
0

i e
i e .....(2.13)

R (d / dt ) Ls
0

when:
,Ls=Ls1+3/2Ls0,e=-wr m sin() ,e=wr m cos(),
the torque equation in SPMSM calculated as :
Te = (3/2) (P/2) m Iq........... (2.14)
2.3- Mechanical Model Of PMSM
The general mechanical equation for the motor is:
Te=TL+Td+B.wm+j.p.wm
when: wm=2*wr/p
J: Inertia of shaft,TL: Load torque.Td= Dry friction
B: Viscous frictions coefficien
fig :the shaft of the motor

3.General hardware to design PMSM speed control system

Fig 6: Drive System diagram for PMSM

3.1- Inverter
used to change the direct voltage (DC)
to alternating voltage (AC).
Theoretically the inverter have a pure
sinusoidal wave form but in practice the
Waveform have different harmonics.
a pwm method are usally used to control
the inverter

Fig 7: Typical diagram of a three-phase

inverter

3.1.1 Design techniques of inverters

Pulse Width Modulations are used to drive and control the switches in the inverter.
The PWM are used to adjust the duty cycle of the sensors signal by using different
types of techniques [14].
3.1.1.1 sinusoidal Pulse width modulation (SPWM)
The Principle of SPWM is to chop the error signal and induce pulses for the
inverter.
The chopping are done by using a saw teeth waveform (Vtri) applied to inverter
circuit by the formula:
Vcontrol > Vtri, Vx0 = Vdc/2
Vcontrol < Vtri, Vx0 = -Vdc/2
when x is the phase to line voltage (VA,VB,VC) .
vtri : the saw teeth wave form
Vcontrol : the error voltage

Fig (8):three phase inverter with sinusoidal PWM technique

3.1.1.2 SPACE VECTOR PULSE WIDTH MODULATION (SVPWM)

reduce a three phase into just one phase
modulate the three-phase input voltage of PMSM by using sectors that depend on
the inverter ON/OFF switches as it has shown in fig (9).
The sector are determined by using voltage reference (stator voltages) and his
angle when :
the voltage reference determined by :

Vref vd 2 vq 2 .........(3.1)
the Vd and Vq determined by using
the rotor position.

and the angle calculate as :

tan 1 (

vq
).........(3.2)
vd

fig: sector diagram of SVPWM controller

 after determining the sector the SVPWM convert the pwm to an AC voltages.
SVPWM better than SPWM in :dc-link voltageutilization,
low output harmonic distortions, higher torque and higher
?why SVPWM
efficiency at high speeds
SVPWM used in FOC to decouples the torque and flux which provides faster
response
The SVPWM allows to having a higher torque at high speeds, and a higher
efficiency.

3.2 Position Sensor

The usage of position sensor in the PMSM is to detect or the rotor position in the
motor .
it could be divided into :Encoders and Resolvers
Encoders : predict the position of a rotor in the motors
by applying the function of light.
consists from rotating disk, led, light sensor
and signal processor (generate pulses )
resolver in principle, looks like a rotary
transformer that contains a rotating winding in one side
and two stator windings in another.
the angle extracted from the voltages of
the resolver :

3.4 Speed and current controller

The (PI) controller usually used in the speed control .
pole placement or any other linear controller method used to design the controller.

in some control we use more than one controller .

A DSP or FPGA boards are used to design the speed controller because the wide
range and its reduce the harmonics and torque ripples.

fig:closed loop control structure

4-CONTROL STRATEGIES OF PMSM

PMSM control

vector control

FOC

scalar control

DTC

V/f control

4.1 SCALAR CONTROL SYSTEM (SCS)

an open-loop controller used applications that dont require precise
speed control .
controls only magnitudes.
does not need any feedback information (encoder . resolver )
instability of the drive system after exceeding a certain applied
frequency, and the coupling effect. (disadvantage )
there is no need for high capability DSP as in the case of vector
control.

4.2 vector control

More advanced than scalar control.
controls both magnitude and vectors.
Allows the drive a good dynamic, effective performance and prevents
overload of the motor by controlling the torque.
The two most used ones are Direct Torque Control (DTC) and Field
Oriented Control (FOC).
using a microprocessor for the signal processing and coordinate
transformation.
the basic idea is to control the 3-phase and transfer it into two parts
q- which it control the torque
d- this part control the flux
there is two control method that can be used in

4.2.1 Direct torque control method (DTC)

uses the stator flux linkage directly to control the flux linkage and the torque of
motor.
controlling the torque and the flux by using stator currents.
from equations (2.7;2.8 and 2.11) and the torque and flux can be determined .
the torque and fluxcan be controlled by
1- pi controller
2- hysteresis comparator

 the second method is torque and flux hysteresis comparator

4.2.2 Field oriented control (foc)

the goal of FOC is to mange the id and iq to control the flux and torque
in FOC we use three controller One is for the mechanical system (speed) and two
are for the electrical system (d and q currents)

The main advantages of this technique are the fast response and the little torque
ripple
two strategies used in FOC :
1-Maximum torque per ampere (MTPA)
2- Flux-weakening control .

4.2.2.1 Maximum torque per ampere (MTPA)

in this method we assume that id=0 . so this make torque producing current iq
equal to the supply current (same as DC motor)

in this case we just have the magnetic torque

T e= (3/2) (P/2) (m Iq + (Ld - Lq) Iq Id )

since we removed the relctuance torque then the negative part of the torque are
removed (Ld<Lq)
the torque eqution will be :

(same as DC motor)

3. p
TL
.m.iq.......... .......( 4.4)
4

analog
to
digital

fig: Maximum torque per ampere( MTPA ) structure

3.2.2.2 Flux-weakening
used in traction drives ( increase the torque
and speed range of the motor) .
when speed rise the BEMF rising too which end
to saturation on the motor .
for high speed we need the Flux-weakening technique .
the Flux-weakening technique is used to make the d-aixs current in negative form
which it leads to add more torque into a motor also make the speed range larger
than before .

to achieve the flux weakening control :

1-find a relationship between id and iq (from voltage equation)
w.Ld
vq w.m
.ids
................(4.5)
rs
rs
2-replace the iq with the max voltage :
iqs

now the equation 4.5 will be:iqs vmax

w.Lq
2

1
m
vsmax
convert equation
ids 4.5
into:

Lqi

................(4.6)

qs
Ld
Ld
w

iqs A.ids B.......... .....( 4.7)

when
w.Ld
A
rs

vq w.m
rs

the pi controller used to make the Id negative until we reach the speed that we
wont .

fig:flux weakening block diagram

5 -STRATEGIES FOR SENSORLESS POSTION ESTIMATION OF

PMSM
The sensorless control reduce the cost and the size in PMSMs by removing the
encoder.
estimate the rotor position by using current and voltage sensors.
There are three types of sensorless control
1-Model-Based Methods
2- Signal injection estimator
3-Soft computing estimator

5.1 why the position sensor ?

The position sensor and his cable connection has been a source of failure for motor
control
position sensor can be eliminate and replaced by current sensor
current sensors not expensive as the rotor position sensor and note that other
types of drives also require their use in feedback control.

motor control sensorless scheme

Soft computing
estimator

High frequency
methods
low frequency
methods
hz-100 hz 10

Signal injection
estimator

Sensorless control
methods

Neural network

Fuzzy logic

Model-Based
Methods

Back EMF
based
methods
Nonlinear State
Observers
Closed-Loop
Observers

Linear State
Observers

Algebraic
Manipulation

Flux LinkageBased
Methods

Inductance-Based
Methods

5.1 model based observer

model based observer is a simulation of the system drive by the same input as the
real system have .
rotor position and motor speed estimated based on the error between measured
and estimated state (like currents).

The flux linkage and back EMF estimatation is extracts the position information
from the voltage model of PMSM by using tracking algorithm .

Has very good performance on the high and medium speed but its not effective in
the low speeds(because when Wr 0, the BEMF cannot be detect ).

5.2 -Signal injection estimator

This method suitable for zero and low speeds(needs no information on the motor
parameters).

High or low frequency signal inject to system to estimate the speed

High frequency signal injected is not suitable when ((Ld/Lq) 1)
Low frequency made mechanical oscillation if the wr is not estimated well.
The d-q form of the voltage used in that type of estimation
audible noises and additional energy losses can caused by this type of methods.

5.3 Soft computing estimator

Fuzzy logic and neural network has a better performance than other type of
PMSM , but it difficult in the implementation .
this method is always used by combining with another method and its used to
design pi controller .

Sneosrless control
Model based method

5.1- Back EMF-Based Methods

estimate the rotor position information from the back EMF of the motor.
in SPM motors the BEMF equations can be found by using :
e=-wr m sin() ,e=wr m cos().
and the angle calculate by :
e
r tan 1 ( ).........(5.1)
e

but this is not easy for the IPM motors .

5.1.1 The BEMF problem in the IPMSM

v L
v L

L d i
I
sin r
R r m
..........(2.9)

L dt i
cos r
I

L=L0+L1cos(2 ) , L=L0- L1cos(2 ) , L=L1sin(2 )

information of BEMF is every where .

5.1.2 solution of BEMF problem in IPM motors

The solution is to rearrange the system of PMSM by extend the BEMF.
m*= m+(Ld-Lq)id
applied this on equitation 2.9

V R . I

d
Lq
I e .......... ( 5 . 3)
dt

sin
d
( m * (Ld - Lq)Id.
)........( 5 . 4 )

dt
cos

 By assuming a steady-state condition d/dt (id)=0

(this equation when the system not moving)

e d ( m * c os )
dt

s in

e ( ) w ( ke ( Ld Lq ).id ) sin .......... ( 5 .5 )

e (the
) back
w ( ke emf
( Ld constant
Lq ).id ) cos .......... ..( 5 . 6 )
ke=is

e
r tan 1 ( ).........(5.1)
e

5.2- Flux Linkage-Based Method

The flux-linkage in simple structure control method.
Whe the motor in steady state . the machine work synchronously ( rotor flux
=stator flux )

s( , ) Vs ( , ) RIs( , )................( 4.2)

And then:

r tan 1 ( )

The drawback of this method is the offset in measured current is inevitable and this
lead to instability.
Drift that caused by resistance and voltage error make Serious problem at low
speed. this could be solved by using filters

5.3- Liner State Observers

This type of method use an observer to estimate the back EMF.
Assume the change in back EMF as a disturbance that make the PMSM nonlinear
manipulating eq(5.3):
pi
i
e
v

B
pi
i
e
v .........(5.8)

A=-Rs/Lq,B=-1/Lq
build a model that assume the BEMF is a
disturbance that we need to remove it:
de(,)/dt 0
the linear equation will be as follow:

px [ A]x [ B ]u.........( 5.9)

A B B
A
B

0 0
0
x [i * , i *, e * , e * ]T ; u [v , v ]T

now by using Luenberger observer {any system driven by the output of the given
system can serve as an observer for that system } we build a new model
d
x* [ A]x * B[u ] G (i i*)........ .(5.10)
dt

G can be found by using pole placement method .

the output in this model is the current and the BEMF (disturbance )
now by using Luenberger observer

d *
i*
i
i* i
dt i
.........(5.11)
d A * B. G.P *
i
i
i i
i*
dt
the estimated current will be used to estimate the BEMF
d *
e*
v
i* i
dt e
.........(5.11)
d A * B. G.P *
e
v
i i
e*
dt

these values
from current
sensors

5.4- non-linear State Observers

controlling the PMSM by using nonlinear observer

slide mode observer (SMO ) usually used to estimate the BEMF voltage.
SMO is an observer whose input is discontinuous function of the error between the
estimated and measured system states (current ,)

let k=wr (ke+(Ld-Lq)Id)

pi
i
v
k sin
pi A i B v B
.........(5.12)
k
cos

A sliding-mode current observer is designed with the same structure as the IPMSM
model:
pi *
i *
v *
kmz
pi * A i * B v * B kmz .........(5.13)

(m ) is the feed back gain of the nonlinear controller . (chosen by designer )

Z= switching control vector

 z z0
px

z z0

z0 px z0

px z0

2.k
2.Ld . f s Rs

(i i * )
v v *
B

*
(i i )
v v *

f s PWM frequency x current

k sin
k cos B

lets describe esystem

in the form kB
of nonlinear
T
Tobserver
cos ]T , , z
[ z z ]T
[ kB sin
S T [i i *

z0

the V, should be identical V*,

subtracting (12) from (13)

p (i i * )

A
*
p (i i )

px z0

i i * ]T

then eq (5.13) will be :

d T
T
T
S [ A S T e
l z
]..........(5.14)
dt

klz
klz .........(5.13)

by using Lyapunov condition : P ST = ST =0 the BEMF will be :e T =l.ZT and the angle
will be estimated by using eq (5.1)

5.5 . MODEL REFERENCE ADAPTIVE CONTROL system (mras )

Used to improve the low speed applications
an adjustable model and a reference model are connected in parallel.
The error between the two models is used to estimate the unknown parameter
An adaptive mechanism used to eliminate the error
the reference model is written in the following form

or in other form

the adjustable model will made as follows :

now by subtracting these two models the error will appear :

or in general mode

the system transferred to feedback system:

According to hyperstability theory,

which will be :

in the final stage the speed can be calculated by:

5.6 high frequency signal injection

A HF voltage signal ui = vicos(it) + j0 is injected into the motor
winding in order to detect the magnetic saliency and estimate the
rotor position..
in most cases the inject will be on the d-axis (make d oscillate when
position error=0)
uiq = d/dt(Lq. Iiq )+ r Ld.Iid) (R =0 in HF)

uid = d/dt(Ld. Iid ) r Lq. Iiq

wr coupled
the coupling removed by adding suitable signle to q-axis
d/dtIiq =0 , d/dtIid= vi sin(it) /(i.Ld). (when the motor stop oscillate in q)
after decoupling, the system is :

replacing the decouple system into the motor

vi
d
sin( wi.t )
when ide Ld .I id
wi
dt
iqe 0 (becasue the wi wr )

ide

transfer it into stationary reference frame :

vi
sin( wi.t ) cos *
wi
vi
i sin( wi.t ) sin *
wi

by comparing the real with the estimated value :

d
vi Ld Lq
Ld Lq
*
*
I i sin( wi.t )
cos
cos( 2 )

dt
2.wi Ld .Lq
Ld .Lq

d
vi Ld Lq
Ld Lq
*
*
I i sin( wi.t )
sin

sin(
2

dt
2.wi Ld .Lq
Ld .Lq

converting it to the rotary frame :

Ld Lq Ld Lq

d
vi
I ide
sin( wi .t )

cos( 2 )
dt
2.wi
Ld .Lq
Ld .Lq

*
d
vi
Ld Lq
vi Ld Lq
I iqe
sin( wi .t )
sin( 2 )
sin( wi .t )
dt
2.wi
Ld .Lq
wi Ld .Lq

because q-axis contain the rotor information we dont need the id axis.
by using PLL the speed can be estimated .
if - 0 , iq will contain sinusoidal component and it will extract by using band pass
filter . the result will be pulsating signal (x)
x error of position and will entered to LP filter

what is PLL ?
is a device or algorithm used to track one signal by another .

the position error gives a signal :

K sin( )

this angle is the input to the PLL which used the nonlinear algorthim to abstract the true
angle.

dw*
k1
dt

d *
wr * k 2
dt

k1 and k2 used estimate the correct angle when :

fig : high frequency signal injection system

6-practical implementation on PMSM

The PMSM can be controlled by using FPGA cards
6.1- ModelSim/Simulink Co-simulation Method
ModelSim/Simulink Co-simulation Method is being developed for Matlab/Simulink
package using Electronic Design Automation (EDA) Simulator link.
It allows the translation of Simulink block sets into fpga by u using Electronic
Design Automation (EDA) Simulator link.
the disadvantage it is very expensive( Price: $4295)

6.2- Finite State Machine method (Microsemi SoC FPGAs)

system has high-performance, low-power, low price (less than $ 200)

work under extreme conditions without cooling fans (because the low-power) .

its use for more than one motor because the Multi-Axis Motor Control.

Motor performance is tested for speeds exceeding 30,000 RPM for sensor-less
field oriented control (FOC).

reduce the memory use in fpga and dividing the motor into states .

The operation of each states in FPGA can be completed within 40 ns (25 MHz clock)
the draw back is its complicated (disadvantage).

to transfer the system into VHDL we write

a0 = 0.1 0.1 32768 = 3277 = X0CCD; a1 = 0.2001 0.2001 32768 = 6557 =
X199D; a2 = 0.4525 0.4525 32768 = 14828 = XC614;
x0 = 0.2001 0.2001 32768 = 6557 = X199D; x1 = 0.2001 0.2001 32768
=
6557 = X199D; and x2 = 0.1 0.1 32768 = 3277 = X0CCD.
Therefore y = 0.01479 0.01479 32768 = 484 = X1E4;

example for controlling the PMSM by FSM

fig:vector control on pmsm by using FSM

fig:SMO control on PMSM by using FSM

fig: finite State Machine system method

7-simulation of PMSM by using MRAS method

number of poles pair=2
Ld=0.0085
Lq=0.0125
Flux linkage m = 0.175
Phase resistance: rs = 2.8750
vdc= 560
load toqrue =3

mras model

adaptve mechanisim

Conclusions and Recommendations

PMSM can be controlled without the need of position controller

different types of controller are used in this field .
some of them works with the low speed and some is not
mras is a simple technique used for low and high speeds
future work
develop a new sensorless control (single or hybrid ) method that will
comparable to the other methods.
applied the sensorless method into a PMSM by using fpga card.

references
1- Yue Zhao,Compensation Algorithms for Sliding Mode Observers in Sensorless
Control of IPMSMs,2012
2- Marco Tursini,Extended Torque-Speed Region Sensor-Less Control of Interior
Permanent Magnet Synchronous Motors,2013
3- B.S. Bhangu, C.M. Bingham, onlinear State-Observer Techniques for Sensorless
Control of Automotive PMSMs, including Load-Torque Estimation and
Saliency,2003
4- A. Khlaief (1), M. Bendjedia(1), M. Boussak, Nonlinear Observer for Sensorless
Speed Control of IPMSM Drive with Stator Resistance Adaptation.
5- Xin Ping, SMC with Disturbance Observer for High Performance PMSM,2011