Electrical angular position error estimation for a permanent-magnet synchronous motor via extended Kalman filter

This work presents the design of an extended Kalman filter for electrical angular position error estimation of a permanent-magnet synchronous motor. The method uses the Riccati equation to find an optimal gain value for the filter. The Riccati equation is solved using a 4th-order Runge-Kutta algorithm. The filter also successfully estimates the motor currents and angular speed. The Kalman filter allows to perform speed control when the motor presents a misalignment error and is subjected to a time-varying load torque. Finally, high-precision emulations validate the operation of the filter.