PMSM PI Current Controller Tuning Using Structurally Constrain LQR LMI Criteria for MIMO Plants

In this paper the convex optimization technique is proposed for parameter tuning of a PI controller. Presented non-iterative two step procedure is able to optimize the coefficients of a structured output feedback matrix using the LQR cost function. It is also shown that the matrix coefficients can be linked to PI controller parameters simply by extending the state space model of the plant. The capability of this method to optimize controllers for MIMO plants is demonstrated on current control of the real PMSM.