Robust Pole-constrained ℋ₂ Controller for Permanent Magnet Synchronous Motors

This paper addresses the design and experimental validation of a state-feedback robust control law for electric motors with norm-bounded parametric uncertainties. The main objective is to propose a streamlined synthesis method that allows practitioners to take advantage of advanced control methods while only selecting a few, physically meaningful, tuning parameters. The synthesis is obtained by means of convex optimisation, specifically robust ${\mathcal{H}_2}$ and robust pole placement within linear matrix inequality (LMI) regions. The proposed formulation can be verified to be less conservative than pre-existing results from the literature. The effectiveness of the approach is also validated experimentally on a permanent-magnet synchronous motor (PMSM) using a low-cost industrial microcontroller. A robust controller is designed to ensure that two distinct motors meet defined performance criteria. Experimental results comparing the performance of this robust controller with a non-robust design are presented.