Abstract
This paper deals with rotor position and speed estimation of permanent magnet synchronous motors. A reduced order observer based on back electromotive force estimation is proposed for estimating mechanical variables. Robustness against model uncertainty is analyzed. Under exact model assumption the estimation error converges to zero in exponential way, while a residual estimation error appears in presence of uncertainties. For this reason, estimation error bounds are calculated when uncertainty in both the mechanical and the electrical submodels are taken into account. The observer performance is tested through simulations.
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