Design of a MIMO IMC-TS fuzzy speed controller for PMSM

This paper presents the design of a Fuzzy speed controller for a permanent magnet synchronous motor (PMSM), based on a MIMO model of the motor, internal model controller (IMC) and Takagi-Sugeno Fuzzy modeling technique. The outputs of the MIMO of the PMSMl are the d-axis stator current and the mechanical speed, which are required to control the speed of PMSM below and above its nominal speed. A MIMO model allows a better representation of the influence between these outputs signals. Takagi-Sugeno Fuzzy controllers and internal model controllers allows reducing the steady-state error. Linear matrix inequalities were used to get the local controllers and set the dynamics of the close-loop plant. Simulation and experimental tests using hardware-in-the-loop prove the accuracy of the proposed controller, even considering variation in the motor parameters.