Offset-Free Proportional-Type Self-Tuning Speed Controller for Permanent Magnet Synchronous Motors

Seok Kyoon Kim, Choon Ki Ahn

Research output: Contribution to journalArticlepeer-review

19 Citations (Scopus)


This paper exhibits a robust speed controller equipped with a self-tuner for permanent magnet synchronous motors (PMSMs), taking nonlinearity and model-plant mismatches into account. The first contribution of the proposed technique is designing a self-tuner for updating the cutoff frequency of target speed dynamics. The second one is rendering the closed-loop system to recover the target tracking performance and remove the offset errors in the absence of integrators. A 5-kW prototype interior PMSM is used to experimentally verify the effectiveness of the proposed technique.

Original languageEnglish
Article number8490865
Pages (from-to)7168-7176
Number of pages9
JournalIEEE Transactions on Industrial Electronics
Issue number9
Publication statusPublished - 2019 Sept

Bibliographical note

Funding Information:
Manuscript received June 13, 2018; revised July 30, 2018 and September 5, 2018; accepted September 26, 2018. Date of publication October 12, 2018; date of current version April 30, 2019. This work was supported by the Basic Science Research Program through the National Research Foundation of Korea funded by the Ministry of Education under Grant 2018R1A6A1A03026005, in part by the NRF of Korea through the Ministry of Science, ICT, and Future Planning under Grant NRF-2017R1A1A1A05001325, and in part by the Brain Korea 21 Plus Project in 2018. (Corresponding author: Choon Ki Ahn.) S.-K. Kim is with the Department of Creative Convergence Engineering, Hanbat National University, Daejeon 341-58, South Korea (e-mail:,

Publisher Copyright:
© 1982-2012 IEEE.


  • Disturbance observer (DOB)
  • performance recovery
  • self-tuner
  • speed control
  • time-varying cutoff frequency

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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