IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, VOL. 9, NO.
2, MAY 2013
The Adaptive Backstepping Control of Permanent
Magnet Synchronous Motor Supplied by
Current Source Inverter
Marcin Morawiec
Abstract—The sensorless control system of permanent magnet
synchronous motor (PMSM) fed by current source inverter is pre-
sented in this paper. The adaptive backstepping control system and
the backstepping speed observer are presented. The control sys-
tems are based on multiscalar variables. The control variables are
dc-link voltage and the output current vector pulsation. The con-
trol system was named the voltage control system because of the
fact that the first control variable is voltage in dc-link. The machine
inverter is treated as a commutator. It works with constant modu-
lation index. The proposed control system is robust on mechanical
and electromagnetical parameters of the motor. The adaptive esti-
mator of the stator resistance is introduced. Such an approach to
control of the PMSM motor gives better performance. It is robust
to dynamic uncertainties and does not require knowledge of the
system parameters. The mathematical equation was introduced.
Simple method limitation of control variables is explained. The ref-
erence variables must be limited to a constant or various value if
the motor system has to be used in the industrial applications. The
simulation and experimental test are shown.
Index Terms—Backstepping control, control system, current
source inverter, permanent magnet synchronous motor (PMSM).
I. INTRODUCTION
C URRENTLY, the permanent magnet synchronous mo-
tors (PMSM) can compete with an induction machine,
mainly in low-power range. The advantages of PMSM or
interior PMSM (IPMSM) are: high proportion of electromag-
netic torque to inertia torque, high speed range, and favorable
proportion between weight and electromagnetic torque.
The control method strategies for PMSM were presented in
[4]–[21], [29], [30], [34]–[42], [44]. These strategies are based
on constant power angle (the stator current component
). The same strategy can be implemented to the PMSM
control system supplied by the CSI (to simplify the development
of the controller). This assumption leads to non-optimal results
for motor at all operating conditions [29]. In order to obtain
the optimal working of PMSM the maximum torque per amper
(MTPA) of stator current injection was proposed [7]–[9],
[29], [43].
The control systems based on stator current components in
-connected with rotor were named current control of the
Manuscript received November 30, 2011; revised February 13, 2012, April
30, 2012, and July 10, 2012; accepted September 17, 2012. Date of publication
October 10, 2012; date of current version January 09, 2013. Paper no. TII-11-
866.
The author is with the Gdansk University of Technology, 80-233 Gdansk,
Poland.
Digital Object Identifier 10.1109/TII.2012.2223478
1551-3203/$31.00 © 2012 IEEE
1047
PMSM/IPMSM supplied by the CSI. These control systems
were focused in [4], [5], [8]–[10]. In [2], [3], [7], and [43], the
authors used the output capacitors model to obtain the extended
current control variables. The output capacitor current vari-
ables control is more precisely determined than not taken into
consideration. The current control allows to control of supply
reactive power and a unit power factor [2], [9], [14], [21], [43].
The second approach to control of a machine supplied by the
CSI is the voltage control. Such an approach to control is not
popular in literature. This voltage method was first proposed in
[21] and [22]. The authors developed such a voltage approach
to control of electrical machines.
The control variables are the current source rectifier output
voltage and the CSI output current vector pulsation . The
voltage control with classical PI controllers was presented in
[21] and [22].
In this paper, sensorless control of PMSM is proposed. The
control system is based on the adaptive backstepping con-
troller and adaptive backstepping observer. The backstepping
approach was proposed in [24]–[26], [28]–[30], and [32]. The
paper is focused on sensorless control and parameter estimation
of stator resistance in order to obtain robust control system. The
multi-scalar variables are used to linearize of PMSM motor.
The combined multiscalar adaptive backstepping controller is
proposed to the extended mathematical model of the whole
motor drive system with the dc-link model and the output
capacitors model. The paper is focused on emphasizing the
advantages of proposed novel control system of PMSM motor
supplied by the CSI. The CSI is treated as a commutator the
dc-link current to ac-side current. The constant modulation
index which guaranteed smaller dc-link current and
smaller power losses are improved.
The second point of this paper is limitation of reference vari-
ables. The authors of backstepping or adaptive backstepping
control papers [24]–[26] do not mention anything about con-
trol variables limitation. The control variables are limited only
by the ramp time put on the reference speed signal. Such an ap-
proach does not guarantee the stator current or electromagnetic
torque limitation. The adaptive backstepping control method
without control variables limitation cannot be used in industrial
applications. A simple method limitation of control variables is
shown in this paper.
II. CSI STRUCTURE WITH PMSM
In Fig. 1, the CSI supplied PMSM is shown. The current
source rectifier is modeled as regulated voltage source . Fig. 2
presents and coordinate systems.
1048 IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, VOL. 9, NO. 2, MAY 2013

(7)

where are the output current six-transistor bridge coeffi-

cients, is the dc-link current, and is the interior inductor
resistance.
The mathematical model of the drive system in coordinate
system is determined as

(8)
Fig. 1. Drive system with the CSI and PMSM, is the dc-link inductor,
is regulated voltage source value treated as control variable in backstepping (9)
control system, and is the output capacitor.
(10)

(11)

(12)

(13)

(14)

where are the stator flux vector coefficients.

IV. ADAPTIVE BACKSTEPPING CONTROL SYSTEM

Taking into account (12)–(13) in the stationary state, the
stator current vector coefficients are
Fig. 2. Variables in (stationary) and (rotating) coordinate systems.
(15)
(16)
III. MATHEMATICAL MODELS OF THE DRIVE SYSTEM
If the modulation index is , then .
A. Mathematical Model of PMSM Selection of the new motor state variables, as in the case of
Equations of the permanent magnet machine, written in a sta- multiscalar control with linear PI regulators [9], [13], leads to
tionary system, take the following form: a different form of expressions describing the machine control
and decoupling. The following state variables have been se-
(1) lected for the multiscalar backstepping control:

(2) (17)
(18)
(3) (19)

(4) where is rotor speed, is electromagnetic torque, and

. Using (15)–(16), the dependences (18)–(19) take
where is the rotor speed, is the rotor angular speed, the form
is the stator current vector components in , is the stator
inductance, is stator resistance, is inertia torque, is (20)
load torque, is the absolute value of permanent magnets flux, (21)
is the stator voltage vector components in , and is
relative time. where
The mathematical model of the drive system contains the
output capacitor and dc-link equations in as follows: (22)
(23)

(5) The multiscalar model for (17), (20), and (21) is

(6) (24)
MORAWIEC: ADAPTIVE BACKSTEPPING CONTROL OF PMSM SUPPLIED BY CURRENT SOURCE INVERTER 1049

(25) Differentiating the Lyapunov function

(36)

(26) the control variables are obtained as

where (37)

(38)

where

The control strategies are based on constant power factor (39)

. Under this assumption, the stator current coefficient
could be . Variable defined in (21) is proportional
to . The reference value of for constant
power strategy must be than the angle between mag-
nets flux vector and stator current vector is about . This
strategy allows us to simplify control of PMSM but for wide
band operation points the MTPA strategy must be applied.
For multiscalar variables defined in (20), (21), and (17), (40)
tracking errors are defined as

(27) The load torque can be estimated from the formula

(28)
(29) (41)

where are reference values.

The derivative for deviation takes the form where is proportional to deviation and .

(30) V. ADAPTIVE SPEED OBSERVER BACKSTEPPING

The general conception of the adaptive control with back-
If the load torque in (30) will be estimated , the fol- stepping is presented in [25]–[27]. In [25], the adaptive back-
lowing equation from the Lyapunov function [33] is obtained: stepping observer stability is proved, and the stability range is
given.
(31) Proceeding in accordance with the adaptive estimator with
backstepping conception, one can derive formulae for the ob-
Substituting (31) into (28), the virtual control [25] for electro- server, where only the state variables will be estimated as well
mechanical subsystem takes the form as the rotor angular speed as an additional estimation parameter.
Treating the stator current vector components as the ob-
(32) server output variables (as in [25]–[27]) and as the new
input variables, which will be determined by the backstepping
Taking into account (32) and (30), the new form of (30) is
method, one obtains
obtained as

(42)
(33)

Derivatives of (28) and (29) take the form (43)

The state variable estimation errors take the form

(34)
(44)

(35) (45)
1050 IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, VOL. 9, NO. 2, MAY 2013

In accordance with the backstepping method, the virtual con- (58)

trol must be determined together with the observer stabilizing
variables. For that purpose, the new and variables have
Taking (57) and (58) into account, the deviation derivatives may
been introduced and linked with the stator current estimation
be written in the form
deviations (the integral backstepping structure [25]–[27])
(59)
(46)
(60)
(47)
Making use of (59), (60), and (55), the Lyapunov function
The stator current vector component deviations are treated as the
may be written as
subsystem control variables [25]–[27]. Adding and deducting
the stabilizing functions, one obtains

(48)
(61)
(49)
The observer, defined by (42), (43), (51), and (52), is a back-
where stepping-type estimator.
In (57) and (58), the permanent magnets flux deviations ap-
(50) pear, which may be neglected. Assuming the simplifications,
one obtains
By introducing the deviation defining variable, one obtains
(62)
(51)
(63)
(52)
The rotor speed is determined as
Calculation of (51) and (52) deviation derivatives gives
(64)
(53)
where
(54)

By selecting the following Lyapunov function:

(55) The rotor angel can be estimated from dependence as

calculating the derivative, and substituting the respective ex-

pressions, new correction elements can be determined that are
treated as the input variables in the speed observer backstep-
ping. The Lyapunov function is determined for the dynamics of
the variables and for the rotor flux components. Cal-
culating the (55) derivative, one obtains
(65)
In order to obtain the robust control system, the motor param-
eter-like stator resistance ought to be estimated. The stator
resistance can be estimated in the same manner as previously.
The derivatives (59) and (60) have a different form, given as

(66)

(67)

where
(56)

The input variables , resulting directly from (56), should

include the estimated variables and the estimation deviations The variables are determined as

(57) (68)
MORAWIEC: ADAPTIVE BACKSTEPPING CONTROL OF PMSM SUPPLIED BY CURRENT SOURCE INVERTER 1051

Fig. 3. Multiscalar adaptive backstepping control system.

(69) The set value of the variables appearing in the devi-

ation can be dynamically limited, and the dynamic limitations
The Lyapunov derivative is are defined as

(72)
(70) where is the set torque limitation and is the max-
imum value of the stator current modulus.
The stator resistance is obtained from The above expression give the relationship between the stator
current modulus and the motor set torque limitation.
(71) For the multiscalar backstepping control, to the variable
(39), the variable was introduced; they assume the 0 or
In Fig. 3, the control system scheme is shown. 1 value depending on the need of limiting the set variable.
Limitation of variables in the Lyapunov function-based con-
VI. DYNAMIC LIMITATIONS OF THE SET VARIABLES trol systems may be performed as follows:
In control systems with conventional linear controllers of the
PI or PID type, the set (or controller output) variable dynamics
are limited to a constant value or dynamically changed, de- if then (73)
pending on the drive working point.
Control systems where the control variables are determined then
from the Lyapunov function have no limitations in the set vari-
able control circuits. The reference variable dynamics may be (74)
limited by means of additional first order inertia elements.
The dynamic limitations effected in accordance with (73)
The author of this paper has not come across a solution of the
limit properly the value of without any interference in the
problem in the most significant backstepping control literature
reference signal build-up dynamics.
references, e.g., [24]–[28]. In the quoted reference positions, the
authors propose the use of inertia elements on the set variable
signals. Such approach is an intermediate method, not giving VII. IMPACT OF THE DYNAMIC LIMITATION ON THE

any rational control effects. The use of an inertia element on the
reference signal, e.g., of the rotor angular speed, will slow down
the reference electromagnetic torque reaction in proportion to
the inertia element time-constant. As a result, “slow” build-up of
the motor electromagnetic torque is obtained, which may be ac-
ceptable in some applications. In practice, the aim is to limit the
electromagnetic torque value without an impact on the build-up
dynamics.
Control systems with the Lyapunov function-based control
without limitation of the set variables are not suitable for direct
adaptation in the drive systems. A solution often quoted in lit-
erature, is the use of a PI or PID speed controller at the torque
control circuit input.
ESTIMATION OF PARAMETERS
The use of a variable limitation algorithm may have a neg-
ative impact on the control system estimated parameters. This
has a direct connection with the limited deviation values, which
are then used in an adaptive parameter estimation. Fig. 4 shows
that the estimated load torque increases slowly in the interme-
diate states. Limitation of the set electromagnetic torque causes
the limitation of deviation , which in turn causes limited in-
crease dynamics of the estimated load torque. The value for
in the dynamic states does not reach the real value
of the load torque, which should be . A large es-
timation error occurs in the intermediate states, which can be
seen in Fig. 4.
1052 IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, VOL. 9, NO. 2, MAY 2013

TABLE I
MOTOR SYSTEM DRIVE PARAMETERS

Fig. 4. Impact of the electromagnetic torque limitation on the estimated

load torque .

The gain should be adjusted that the speed overregulation

in the intermediate state does not exceed 5%:

(76)

The correction element amplification must not be greater than

or else

(77)
Fig. 5. Diagrams of the variable, load torque, and electromag-
netic torque . For , the signal will become an oscillation
element and may lead to the control system loss of stability. The
The estimation error in the intermediate states is be- signal must be limited to the value.
cause the torque limitation, which is introduced to the control The set value expression (31) must be modified:
system, is not compensated. The simulation and experimental
tests have shown that the load torque estimation error in the in-
termediate state has an insignificant impact on the speed control. (78)
Omitting in the set torque of (31) eliminates the inter-
mediate state speed overregulation. However, the absence of where:
in for the steady state gives the deviation value and
(79)
lack of full control over maintaining the rotor set angular speed.
Compensation of the limitation introduced to the control The use of (75) and (78) in the angular speed control circuit
system is possible by installing a corrector in the rotor angular improves the load torque estimation and eliminates the steady
speed control circuit. state speed error.
A corrector in the form of an signal integrating element Fig. 5 presents the load torque [determined in (78)] estimation
was added to the set electromagnetic torque signal. In this as well as and the limitations.
way, a system reacting to the change of machine real load torque
was obtained. The introduced correction minimizes the rotor
VIII. EXPERIMENTAL RESULTS
angular speed deviation and the corrector signal may be treated
as the estimated load torque value. The tests were carried out in a 4-kW drive system. The motor
The correction element is determined by drive system parameters are given in Table I.
The control system was implemented in a DSP Shark Sh363
signal processor. The transistor switching frequency was 10 kHz
for both inverters. The Runge–Kutta IV integration method was
(75) implemented to the speed and resistance estimator. The control
system calculations are about 20 s without code machine op-
timization. Figs. 6 and 7 present the motor start up to 1.0 p.u.
where is the signal integration range, speed and motor reversal to 1.0 p.u.
is the correction element, and is the correction element In Fig. 8, motor reversal from 0.02 to 0.02 p.u. is shown.
amplification. The stator current is very small when very small speed is set.
MORAWIEC: ADAPTIVE BACKSTEPPING CONTROL OF PMSM SUPPLIED BY CURRENT SOURCE INVERTER 1053

Fig. 9. Stator resistance estimation test in stationary state.

Fig. 6. Transient in motor start up to 1.0 p.u.. in the backstepping control

system ( : rotor speed; : electromagnetic torque; is defined in
(21); : control variable; : reference torque without ; : dc-link
current).

Fig. 10. Current in dc-link and stator voltage .

Fig. 7. Transients: motor reversal from 1.0 to 1.0 p.u.—the same variables
are shown like in Fig. 6.

Fig. 11. Estimation errors in stationary state. : error of rotor speed; : rotor
position angle error; : stator currents error; estimated rotor speed: .

smaller than 1% in stationary state. In Fig. 10, the dc-link cur-

rent and stator voltage are shown.
In Fig. 11, the estimation errors were presented. The errors
are , , and in the stationary
state.

Fig. 8. Transients: motor reversal from 0.02 to 0.02 p.u. The machine is not IX. CONCLUSION
loaded and the stator current ; : rotor speed; : stator currents;
: estimated stator currents. The paper presents the control system of PMSMs supplied
from a current source inverter. The multiscalar backstepping
control was used. The extended multiscalar variables contained
The speed oscillation can be minimized when the the output capacitors model and the dc-link model were im-
—the stator current—is higher. Influences of permanent mag- proved. Such the control system has more complicated mathe-
nets are shown. matical equations but guarantee better performance if the higher
Despite speed oscillation, the speed observer and the control capacitor value is necessary. The dc-link model is introduced
system were still stable. In Fig. 9, the stator resistance estimation to multi-scalar variables (model). The (can be treated as
result is shown. decouplings) had more information about motor drive system
The measured stator resistance was 0.035 p.u. The es- parameters quantity (the CSI parameters and the PMSM), there-
timated resistance was about 0.036 p.u. The estimation error is fore the uncontrolled dynamical states or random control system
1054
Fig. 12. Estimation setup of the CSC-fed PMSM drive system.
couplings are omitted. The extended multi-scalar model can co-
operate with different controllers: PID, sliding mode, or fuzzy
logic. In this paper, the adaptive backstepping approach was
applied.
The multiscalar backstepping control ensures good static and
dynamic properties of the drive system. The proposed method
of limiting the reference variables and load torque estimation
may be used in the experimental systems. The drive systems
where the reference variables are not limited or are indirectly
limited by the ramp-time element are not suitable for use in the
industrial drive systems.
The main advantages of proposed voltage control system are
given here.
• The machine inverter only commutates the dc-link current
into -side current (constant modulation index).
• The current in dc-link has no constant value which is only
proportional to machine stator current therefore power
losses are smaller.
• The proposed controller is based on control errors gains
(as in standard -controller), and therefore the signal dy-
namics are faster than -controllers.
• The control system with the backstepping estimator is ro-
bust on parameters changing.
• The reference variables are limited.
The backstepping controller is easy to tune and implement in
a signal processor.
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Marcin Morawiec received the M.Sc. degree in elec-
trical engineering from Czestochowa University of
Technology, Czestochowa, Poland, in 2003, and the
Ph.D. degree from Gdansk University of Technology,
Gdansk, Poland, in 2007.
Since 2008, he has been an Assistant Professor
with Gdansk University of Technology, Gdansk,
Poland. He has authored and coauthored over 50
articles and one book and six patent applications.
His main scientific activities are concentrated on
multiscalar models of any electrical machines,
sensorless control, nonlinear control, backstepping control, and an adaptive
observer backstepping.