Combined feedback linearization scheme for discrete-time position control of PMSM drives

Abstract This paper addresses the position control of permanent magnet synchronous machines through exact linearization via feedback, focusing on implementation for embedded systems. The research demonstrates that the exact linearization can present a feasible approach for controlling electrical drives. A comprehensive design flow for feedback linearization-based position control is presented in both continuous and discrete time, and a prefilter is derived to ensure accurate reference tracking. Motion control of electrical machines is usually performed on embedded systems. However, implementing exact linearization can often encounter problems due to limitations in the numerical representation. The research also offers a solution for implementing feedback linearization-based control on embedded devices, enabling safe and reliable operation. The developed methodology proposes a combined exact linearization and state feedback control approach that enables the effective implementation of the controller by allowing the use of well-conditioned control gains. The methodology is validated through both simulations and measurements carried out on an actual drive.