Robust Cascaded Nonlinear Generalized Predictive Control with Sliding Mode Disturbance Observer for Permanent Magnet Synchronous Hub Motor

In this study, a nonlinear generalized predictive controller (NGPC) in a cascaded structure, combining with sliding mode disturbance observer (SDMO), is proposed to control the permanent magnet synchronous hub motor (PMSHM) with uncertainties and disturbances. The NGPC is designed on the basis of the Taylor series expansion to approximate the predictive response in finite time domain. Since NGPC cannot thoroughly remove the deviation in the load torque variation and parametric uncertainties, an improved SMDO is exploited to estimate and compensate the deviation of controller. The developed controller can fulfill the performance of strong robustness and fast dynamic response with easy regulation characteristics. The simulation results manifest the effectiveness of the designed control strategy applied to the PMSHM drive.