Real-time IP position controller design with torque feedforward control for PM synchronous motor

A digital signal processor (DSP)-based permanent magnet (PM) synchronous motor (Sh?) drive with a proposed recursive least-square (RLS) estimator and integral-proportional (IF) position controller is in this study, First, the rotor inertia constant, the damping constant, and the disturbed load torque of the synchronous motor are estimated by the proposed RLS estimator, which is composed of an RLS estimator and a torque observer, Next, the IP position controller Is real-time designed according to the estimated rotor parameters, to match the time-domain command tracking specifications, Then, the observed disturbance torque is fed forward, to increase the robustness of the synchronous motor drive.