Robust Control of IPMSM Using T-S Fuzzy Disturbance Observer

T-S 퍼지 외란 관측기를 이용한 IPMSM의 강인 제어

  • Received : 2014.12.16
  • Accepted : 2015.01.27
  • Published : 2015.04.30


To improve the control performance of the IPMSM, a novel nonlinear disturbance observer is proposed by using the T-S fuzzy model. A T-S fuzzy model is the combination of local linear models considered at each operating point. Usually the inverse model is easy to obtain in linear systems but not in nonlinear systems. To design a nonlinear disturbance observer, a nonlinear inverse model is obtained based on nonlinear inverse model which is the fuzzy combination of the local linear inverse models. The proposed DOB is used with a PDC controller which is one of the T-S fuzzy controller, and its performance improvement is shown from the simulation results.


Nonlinear Disturbance Observer;Interior Permanent Magnet Synchronous Motors;T-S Fuzzy Model;PDC Controller


  1. THOMAS M. JAHNS, GERALD B. KLIMAN, and THOMAS W. NEUMANN, "Interior Permanent-Magnet Synchronous Motors for Adjustable-Speed Drives,". IEEE Transactions on industry application, vol. IA-22, no. 4, pp. 738-747, Jul./Aug. 1986.
  2. Casey B. Butt and M. Azizur Rahman, " Intelligent Speed Control of Interior Permanent Magnet Motor Drives Using a Single Untrained Artificial Neuron,". IEEE Transactions on industry application, vol 49, no. 4, pp. 1836-1843, Jul./ Aug. 2013.
  3. A.G. Aissaoui, M. Abid, A. Tahour and A. C. Megherbi, "A Fuzzy Logic and Variable Structure Control for Permanent Magnet Synchronous Motors," International Journal of Systems Control, vol. 1, Iss. 1, pp. 13-21, 2010.
  4. M. Nasir Uddin and M. Azizur Rahma, "High-Speed Control of IPMSM Drives Using Improved Fuzzy Logic Algorithms," IEEE Transactions on industrial electronics, vol. 54, no. 1, Feb. 2007.
  5. Boldea, I., Paicu, M.C., Andreescu, G.D. and Blaabjerg, F., "Active flux orientation vector sensorless control of IPMSM," Proc. Of IEEE Optimization of Electrical and Electronic Equipment 2008, pp. 161-168, May 2008.
  6. Chy. Md. M.I. and Uddin. M.N., "Nonlinear Control of Interior Permanent Magnet Synchronous Motor Incorporating Flux Control," Proc. Of IEEE Electrical and Computer Engineering 2006, pp. 815-818, Canadian, May 2006.
  7. Tomohiro Takagi, Michio Sugeno, "Fuzzy Identification of Systems and Its Applications to Modeling and Control," IEEE Transactions on SMC, vol. 15, pp.116-132, 1985.
  8. Chung-Hsun Sun, Yin-Tien Wang, and Cheng-Chung Chang, "Design of T-S Fuzzy Controller for Two-wheeled Mobile Robot," Proceedings of 2011 International Conference on System Science and Engineering, Macau, China, Jun. 2011.
  9. Gwo-Ruey Yu, Heng-Ta Hsieh, " Robust Control of an Underactuated Robot via T-S Fuzzy Region Model," Proceedings of the 8th World Congress on Intelligent Control and Automation, Taipei, Taiwan, Jun. 21-25 2011.
  10. Chaoquan Li, Xueshan Gao, Qiang Huang, Fuquan Dai, Jie Shao, Yang Bai, Kejie Li, "A coaxial couplewheeled robot with T-S fuzzy equilibrium control," Industrial robot : An International Journal, vol:38, iss:3 pp. 292 -300, 2011.
  11. Yew-Wen Liang, Sheng-Dong Xu,Der-Cherng Liaw and Cheng-Chang Chen," A Study of T-S Model-Based SMC Scheme With Application to Robot Control," IEEE Transactions on Industrial Electronics, vol. 55, no. 11, pp. 3964-3971, 2008.
  12. Y.X. Su, C.H. Zheng, and B.Y. Duan, "Automatic disturbances rejection controller for precise motion control of permanent-magnet synchronous motors," IEEE Transactions, Industrial Electronics, vol. 52, no. 3, pp. 814-823, Jun. 2005.
  13. E. Schrijver and J. van Dijk, "Disturbance observers for rigid mechanical systems: Equivalence, stability, and design," Journal of Dynamic Systems, Measurement, and Control, vol. 124, no. 4, pp. 539-548, 2002.
  14. W.-H. Chen and L. Guo, "Analysis of disturbance observer based control for nonlinear systems under disturbances with bounded variation," in Proceedings of Control 2004, UK, Sep. 2004.
  15. G. H. Hostetter and J. Meditch, "On the generalization of observers to systems with unmeasurable, unknown inputs," Automatica, vol. 9, pp. 721-724, 1973.
  16. Nam Hoon Jo, Hyungbo Shim, and Young Ik Son," Disturbance Observer for Non-minimum Phase Linear Systems," International Journal of Control, Automation, and Systems (2010), vol. 8, no. 5, pp. 994-1002, 2010.
  17. T. Mita, M. Hirata, K. Murata and H. Zhang, "$H_{\infty}$ control versus disturbance-observer-based control," IEEE Transactions on Industrial Electronics, vol. 45, no. 3, pp. 488-495, 1998.
  18. H. Kobayashi, S. Katsura and K. Ohnishi, "An analysis of parameter variations of disturbance observer for motion control," IEEE Transactions on Industrial Electronics, vol.54, no.6, 2007.
  19. Patrick Gerland, Dominic Gross, Horst Schulte, and Andreas Kroll, "Design of Sliding Mode Observers for TS Fuzzy Systems with Application to Disturbance and Actuator Fault Estimation," 49th IEEE Conference on Decision and Control Dec. 15-17, 2010.
  20. DEZHI XU, B IN JIANG, Peng Shi, "NONLINEAR ACTUATOR FAULT ESTIMATION OBSERVER: AN INVERSE SYSTEM APPROACH VIA A T-S FUZZY MODEL," Int. J. Appl. Math. Comput. Sci., vol. 22, no. 1, pp. 183-196, 2012.


Supported by : Changwon National University