Energy-Shaping Speed Controller with Time-Varying Damping Injection for Permanent-Magnet Synchronous Motors

Seok Kyoon Kim, Yonghun Kim, Choon Ki Ahn

Research output: Contribution to journalArticlepeer-review

20 Citations (Scopus)


This brief presents a novel energy-shaping technique-based speed controller for permanent-magnet synchronous motors (PMSMs) considering machine nonlinearities and load and parameter changes. There are three features: The time-varying damping term is injected into the speed loop, which is automatically updated by the proposed self-tuner. The disturbance observers are designed for both the speed and current loops to achieve better disturbance rejection performance with removal of offset errors without the use of tracking error integral actions. Furthermore, the closed-loop analysis result is provided to demonstrate its beneficial closed-loop properties. The practical advantages are experimentally verified in several convincing scenarios with a prototype 500-W PMSM driven by a three-phase inverter.

Original languageEnglish
Article number9086787
Pages (from-to)381-385
Number of pages5
JournalIEEE Transactions on Circuits and Systems II: Express Briefs
Issue number1
Publication statusPublished - 2021 Jan

Bibliographical note

Funding Information:
Manuscript received April 8, 2020; accepted April 30, 2020. Date of publication May 6, 2020; date of current version December 21, 2020. This work was supported in part by the Basic Science Research Program through the National Research Foundation of Korea (NRF) Funded by the Ministry of Education under Grant 2018R1A6A1A03026005, and in part by the NRF Grant Funded by the Korea Government (Ministry of Science and ICT) under Grant NRF-2020R1A2C1005449. This brief was recommended by Associate Editor X. Wu. (Corresponding author: Choon Ki Ahn.) Seok-Kyoon Kim is with the Department of Creative Convergence Engineering, Hanbat National University, Daejeon 341-58, South Korea (e-mail:

Publisher Copyright:
© 2004-2012 IEEE.


  • Speed tracking
  • disturbance observer
  • energy shaping
  • performance recovery
  • time-varying damping term

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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