Fast Identification and Control of an Uncertain Brushless DC Motor Using
Algebraic Methods
J.A. Cortés-Romero, A. Luviano-Juárez, R. Álvarez-Salas and H. Sira-Ramı́rez
Abstract— In this article, we propose an identification-based
control scheme for a DC Brushless motor drive. The identifi-
cation scheme is based on the algebraic identification method
which allows for fast parameter identification whose, on line,
computed values are used in canceling out the nonlinearities
of the system dynamics thus reducing the control problem to
that of a pure integration system. The control scheme consists
of two stages: the first one is a outer loop current control
which generates the required reference signal for the inner loop
velocity control. A Generalized Proportional Integral control
scheme is used in both loops, obtaining accurate, feasible,
results as demonstrated by numerical simulations.
I. INTRODUCTION
Brushless motors provide better performance than con-
ventional dc motors, in highly demanding industrial applica-
tions, by achieving a longer lifetime and less noisy signals.
Their features make them suitable for automotive, aerospace,
industrial and commercial applications due to their high
power density, high torque-to-inertia ratio, quiet operation
and lower maintenance cost [1]. To take further advantage
of the aforementioned characteristics, the controller design
must be provided with accurate model parameters invok-
ing novel approaches to on-line parameter identification.
Additionally, an on-line parameter identification approach
allows to quickly auto-tune the controller reducing significant
overshoots, or oscillations, in regulation or trajectory tracking
tasks.
The parameter identification of brushless motor models
has been tacked from a wide variety of approaches. In the
literature one may find, among many other approaches, meth-
ods ranging from experimental, off-line, model validations
[2], adaptive methods [3], neural networks approach [4],
to nonlinear identification methods based on wavelets [5].
Most of these methodologies require measurements of state
variables, others demand high computational costs.
An alternative to obtaining a fast parameter identifica-
tion, is constituted by the, so called, algebraic identification
techniques. In [6] a method has been developed based
either on operational calculus considerations or on time
domain considerations. The methodology leads to a linear
This work was supported by Cinvestav-IPN and Conacyt México under
Research Contract 60877.
J. Cortés-Romero is with Universidad Nacional de Colombia. Facultad
de Ingenierı́a, Departamento e Ingenierı́a Eléctrica y Electrónica. Carrera
30 No. 45-03 Bogotá, Colombia. jacortesr@unal.edu.co
J. Cortés Romero, A. Luviano Juárez and H. Sira Ramı́rez are with
Cinvestav IPN, Av. IPN No. 508, Departamento de Ingenierı́a Eléctrica,
Sección de Mecatrónica. {jcortes,aluviano,hsira}@cinvestav.mx
R. Álvarez-Salas is with Universidad Autónoma de San Luis Potosı́.
Av. Manuel Nava No. 8 C.P. 78290, San Luis Potosı́, S.L.P. México.
ralvarez@uaslp.mx
978-1-4244-8067-8/10/$26.00 ©2010 IEEE
set of time-varying equations, for the computation of the
unknown parameters, which are independent of the initial
conditions and of structured perturbations. In the frequency
domain approach, the initial conditions and the structured
perturbations are efficiently eliminated by means of algebraic
manipulations, involving the use of the algebraic derivative.
Equivalently, in the time domain, initial conditions and
structured perturbations are handled via time differentiations
applied to products of the relevant expressions by suitable
powers of the time variable. The applicability of this method
has been proven in many experimental applications such as
dc motors [7], flexible robotic systems [8], mechanical sys-
tems [9], sinusoidal signal parameter identification [10] and
automotive industry problems [11]. The algebraic approach
can be extended to a large class of nonlinear systems when
parameters expressions can be arranged as linear regressor
expressions, which is, precisely, the case of the brushless
motor. The on-line identified parameters can be readily used
to cancel important nonlinearities of the model, most often
reducing the control problem to that of a linear controller
design task.
The linear part of the controller design is based on
the developments introduced by Fliess et al. [12] in the
Generalized Proportional Integral (GPI) output feedback
controller scheme established in terms of Module Theory.
This controller has shown to be robust with respect to the,
so called, classical perturbation inputs (steps, ramps, polyno-
mial perturbation inputs) and has been applied successfully
in electronic devices (See [13]), mechanical systems [14],
electrical motor drives [15], etc.
In this article, we propose a Generalized Proportional
Integral control action in combination with a parameter
identification scheme for the solution of a reference trajectory
tracking problem in a brushless motor system undergoing,
unknown but bounded, load disturbance inputs. The remain-
der of the article is organized as follows: Section II presents
the mathematical model of the system and the problem to
be solved. Section III deals with the proposed identification
method while the controller design is presented in Section
IV. Numerical results are provided in Section V and a
discussion of the obtained results is presented in Section VI.
II. P RELIMINARIES AND P ROBLEM F ORMULATION
In this section, the mathematical model of a trapezoidal
back electromotive force (Emf) synchronous motor is pre-
sented . This machine is also known as the brushless
DC (BLDC) motor. A comprehensive treatment about its
construction, the detailed description of the stator magnetic
9
field, the stator flux linkage, the Emf in the stator windings, A. Problem formulation
and related torques, is presented in the outstanding book by Given a feasible angular velocity reference trajectory,
Chiasson [16]. ∗
denoted by ωR (t), for the completely uncertain BLDC motor
Under balanced stator currents, the mathematical model of model (1)- (5), devise a feedback controller which processes
the brushless motor is given by, the angular velocity, the angular displacement, the stator
currents (possibly subject to additive, zero mean noise), the
diS1 1 desired reference trajectory itself and the nominal control
= (ep ωR e(θR ) − RS iS1 + uS1 ) (1)
dt LS + M inputs, to force ωR (t) to asymptotically track the given
diS2 1 reference trajectory ωR ∗
(t)), in spite of the constant, unknown
= (ep ωR e(θR − 2π/3) − RS iS2 + uS2 )
dt LS + M perturbation load input torque τL .
(2)
diS3 1 III. O N - LINE PARAMETER IDENTIFICATION
= (ep ωR e(θR − 4π/3) − RS iS3 + uS3 )
dt LS + M Precise knowledge of all parameters allows us to imple-
(3) ment a high-performance control strategy. It is not difficult
dωR ep to realize that the set of parameters, RS , LS + M , ep , J,
= − [e(θR )iS1 + e(θR − 2π/3)iS2 is all that is needed to actually control the system and solve
dt J
+e(θR − 4π/3)iS3 ] − τL /J (4) the given angular velocity reference trajectory tracking task.
dθR Since equations (1)-(3) are balanced, the sum of the three
= ωR (5) current signals is equal to zero. This fact forces us to take
dt
just one of this set of equations in the identification scheme.
where ep is the coefficient of mutual inductance between the The objective is to obtain fast algebraic estimates for
stator and the rotor, RS is the resistance in each stator phase, the lumped parameters RS , LS + M , ep , J, applying the
L and M are the inductance and self inductance of each methodology proposed by Fliess and Sira-Ramı́rez [6] as
winding, J is the rotor load inertia, uS1 , uS2 , uS3 are the follows:
voltages applied to each stator phase, iS1 , iS2 , iS3 represent Multiplying equation (1) by (LS + M )t and then inte-
the current in phase 1, 2, 3 respectively , θR is the angular grating the resulting expression, over the interval [0, t] leads
displacement of the shaft of the motor and ωR denotes its to1 :

angular velocity. The total induced torque in the machine is diS1
(LS +M )( t )=
given by, dt
  
ep ( tωR e(θR )) − RS ( tiS1 ) + ( tuS1 ) (8)
τ = −ep (e(θR )iS1 + e(θR − 2π/3)iS2 + e(θR − 4π/3)iS3 )
(6) Equation (8) may be rewritten as:
The dynamics related to the angular velocity is, thus, given  
by (LS + M )(tiS1 − iS1 ) + RS ( tiS1 )+
dωR τ τL  
= − (7)
dt J J ep (− tωR e(θR )) = ( tuS1 ) (9)

Given the construction features of the stator windings which is an expression free of the initial condition iS1 (0).
and of the poles of the permanent magnet in the rotor, the The resulting equation, 9, is linear in the parameters.
magnetic field, produced by stator currents, and the Emf Rewrite (9) as:
in the stator windings, produced by rotor’s magnetic field,
(LS + M )p1 (t) + RS p2 (t) + ep p3 (t) = q(t) (10)
are dependent on e(θ). This is described by the following
 
trapezoidal profile where
 p1 (t) = tiS1 − iS1 , p2 (t) = tiS1 , p3 (t) =
⎧ − tωR e(θR ), q(t) = ( tuS1 ).
6θR
−π/6 ≤ θR ≤ π/6  T
⎪ π , (L
⎪
⎨ 1, π/6 ≤ θR ≤ 5π/6  Let γ = S + M ) RS ep and p =
e(θR ) = p1 (t) p2 (t) p3 (t) then we have the following linear
⎪
⎪ − 6(θRπ−π) , 5π/6 ≤ θR ≤ 7π/6 expression,
⎩
−1, 7π/6 ≤ θR ≤ 11π/6
p(t)γ = q(t) (11)
It is possible to obtain from this single linear equation, a set
In our case, none of the motor parameters: RS , LS +M , ep of linear independent equations whose unique solution pro-
and J is assumed to be known. The variables, uS1 , uS2 , uS3 vides accurate estimates for the unknown parameters. There
act as the control inputs to the system and ωR is considered

to be the output. In addition, the stator currents iS1 , iS2 , iS3 1 Weuse here the following notation: ( t(n) φ(t)), represents the it-
 t  σ1  σn−1 0 
and the angular displacement θR are regarded as measurable erated integral t t · · · t0 φ(σn )dσn · · · dσ1 with ( t φ(t)) =
 (1) t 0 0  (n) 0
states. ( t φ(t)) = t φ(σ)dσ. Whenever, t0 = 0, we use: ( φ(t))
0 0

10
are several ways to achieve this, from equation (11). One We continue the estimation process for the rest of the
way consists in generating 2 further equations by successive parameters. Rewrite equation (4) as follows
repeated integration of (11). After each integration, a new dωR ep 1
linearly independent equation is obtained. However, very = − τu − τL (19)
dt J J
often this set of equations is not well conditioned from the
numerical viewpoint. It is quite common to formulate the where τu = [e(θR )iS1 + e(θR − 2π/3)iS2 e(θR − 4π/3)iS3 ].
identification of the unknown parameters γ as a optimization This signal can be obtained from current measurements and
problem related to an error function ε(γ, t). The idea is to knowledge of the angle of the rotor.
generate an appropriate quadratic error integral criterion and A single time differentiation in (19), annihilates the con-
find the vector of parameters which minimizes it using a stant load torque. We have,
gradient approach. This procedure turns out to be a good d 2 ωR ep dτu
=− (20)
alternative to also minimize the effect of additive noise dt2 J dt
measurement signals. Typically, the optimization criterion is Following the algebraic parameter estimation procedure,
proposed as the following cost function, multiply (20) by t2 and then integrate twice with respect to
 time. One obtains,
1 t 2
J(γ, t) = ε (γ, σ) dσ (12)  (2) 2  (2)
2 0 2 d ωR ep dτu
( t )=− ( t2 ) (21)
where dt2 J dt
ε(γ, t) = p(t)γ − q(t) (13) Using the integration by parts formula we have:
 (2) 
Thus, the optimal value of γ, taken as an estimate of the
−2( ωR ) + 4( tωR ) − t2 ωR =
parameter vector, is defined as the value minimizing the
  
integral square error criterion ep (2)
 2
2( tτu ) + ( t τu ) (22)
1 t J

= arg{min
γ (p(σ)γ − q(σ))2 dσ} (14)
γ 2 0
From (22) it is possible to solve directly for ep /J.
In order to minimize the cost function (12), the gradient However, for a better conditioning of the online identifier,
method is applied. Then, differentiating J(γ, t) with respect we perform an additional algebraic step looking for similar
to the vector of estimated parameters γ, yields effects already found in equation (18). Rewrite the last
equation as,
ep
  N (t) = D(t) (23)
∂ 1 t 2 1 t ∂ε2 J
∇γ J(γ, t) = ε (γ, σ)dσ dσ  (2) 
∂γ 2 0 2 0 ∂γ   N (t) = −2(
with ωR ) + 4( tωR ) − t2 ωR , and, D(t) =
 t (2) 
∂ε 2( tτu ) + ( t2 τu ) . Integrate the expression after mul-
= ε(γ, σ)dσ (15)
0 ∂γ tiplication throughout by the denominator signal D(t). The
Note that ∂(p(t)γ − q(t))/∂γ = pT (t), thus proposed algebraic identifier, with least squares features, is
 t given by, t
 ep  N (σ)d(σ)dσ
∇γ J(γ, t) = pT (σ)[p(σ)γ − q(σ)]dσ (16) = 0 t (24)
0 J
0
D2 (σ)dσ
Given that J(γ, t) is a convex function, then it has a global where, as usual, one has an indetermination at t = 0. This
minimum that satisfies: γ J(γ, t) = 0 for all t. We then procedure yields a remarkably better conditioning of the
have, identifier than with the usual direct procedure. The above
 t   t
invariant filtering acts as an effective desirable handling
p (σ)p(σ)dσ γ =
T
pT (σ)q(σ)dσ (17) of the measurement noise. Additional integrations can be
0 0
3×3
performed to further decrease the classical signal-to-noise
Notice that, p(t)p (t) ∈ R
T
and pT (t)q(t) ∈ R3×1 . The ratio (SNR).
expression (17), is a set of 3 linearly independent equations
for t > 0. IV. C ONTROLLER DESIGN
Therefore, the vector of estimated parameters, γ̂, can be The proposed control scheme consists of a two stage
obtained by the formula: feedback controller design procedure. The first stage reg-
 t −1  t ulates the angular position of the motor shaft to track the
∗

=
γ p (σ)p(σ)dσ
T
pT (σ)q(σ)dσ (18) reference signal, ωR (t), by considering the current Ip as an
0 0 auxiliary control input. For this stage, the control strategy

is independent of time, the above formula is valid
Since γ is implemented by means of a GPI controller. As a result
for any arbitrary small time integration interval [0,
], with of the first, outer loop, design stage a set of desirable

> 0. The estimation of γ can be achieved quite fast. current trajectories is obtained. The obtained currents are

11
then taken as output references for the second multi-variable The proposed controller is robust with respect to constant
design stage, or inner loop stage. The inner loop design perturbation torque inputs and it depends on an estimate of
stage, designs the feedback GPI controller to force the actual the lumped parameter ep /J.
currents to track the current references obtained in the first The closed loop tracking error characteristic polynomial
stage. In the second, inner loop, stage the voltages uS1 , uS2 , is given by:
uS3 act as the control input variables. Pω (s) = s2 + k1 s + k0 (32)
A. Outer loop controller design stage where the controller parameters are chosen so that the closed
The key idea for a simple approach to establish the control loop tracking error dynamics characteristic polynomial is a
strategy consists in selecting the stator reference currents Hurwitz polynomial.
in order to obtain a smooth torque at the motor shaft. In
particular, for a constant reference angular velocity, we want B. Inner loop controller design stage
a constant torque. Consider the equation governing the dynamics of the
The current references i∗S1 , i∗S2 , i∗S3 are chosen as (accord- current, iS1 , given by (1). The proposed controller relies on
ing to [16]) the accurate and fast estimations of the lumped parameters
RS , LS +M , ep . We propose to use the estimated parameters
i∗S1 (θR ) = Ip iS (θR )
in conjunction to e(θR ), to cancel out the nonlinearities as
i∗S2 (θR ) = Ip iS (θR − 2π/3) (25) well as the parameter dependent terms, thus reducing the
i∗S3 (θR ) = Ip iS (θR − 4π/3) control problem to the rather simple one dealing with a single
pure integrator system, where a linear control strategy is quite
where Ip is an auxiliary control input (to be defined later on
effective. We have:
this subsection) and iS is given by
⎧
⎪
⎪ 0 for −π/6 ≤ θR ≤ π (6) 
⎨ di∗S êp
−1 for π/6 ≤ θR ≤ 5π/6 uS1 =(L̂S + M̂ ) − ωR e(θR )
iS (θR ) = (26)
⎪
⎪ 0 for 5π/6 ≤ θR ≤ 7π/6 dt L̂S + M̂
⎩ 
1 for 7π/6 ≤ θR ≤ 11π/6 R̂S l1 s + l0
+ iS1 − (iS1 − i∗S1 (t)) (33)
To determine the produced torque using these current L̂S + M̂ s
references, consider the electrical power absorbed by the
The time differentiation of i∗S is given by
back Emfs which is given, after simple manipulations, by
di∗S dIp diS (θR )
eS1 iS1 + eS2 iS2 + eS3 iS3 = −2ep ωR Ip (27) = iS (θR ) + Ip (34)
dt dt dt
(θR )
That is, under a proper tracking of the stator currents (inner Due to the nature of the motor, the term diSdt Ip is purely
current control loops working properly), the torque is simply a train of impulses which may generate some singularities
given by in the time derivative of the reference. To overcome this
τ = 2ep Ip (28) fact, it is more convenient to eliminate this term from the
and the velocity dynamics is reduced to feedforward input. This action improves the control action
achieving better tracking results without eliminating essential
dωR τ τL 2ep τL
= − = Ip − (29) information of the control input. Thus, we propose the
dt J J J J alternative feedforward input,
which is in the same form as the current commanded DC  ∗
diS1 dIp
motor with constant torque. = iS (θR ) (35)
Thus, as performed in DC brushed servo systems, Ip is dt dt
designed as the analog of a “DC” current to achieve the And finally, the control input for the first stator current is
desired servo system performance. The last fact allows us expressed as
 ∗
to propose the corresponding outer loop control law for Ip diS1 êp
while using the estimated parameters, uS1 =(L̂S + M̂ ) − ωR e(θR )
dt L̂S + M̂ 
    R̂S l1 s + l0
1 
J dωR∗ + iS1 − ∗
(iS1 − iS1 (t)) (36)
Ip = − k1 eω − k0 eω (τ )dτ (30) L̂S + M̂ s
2 ep dt
∗
For this case, the closed loop tracking error characteristic
eω =ω − ωR (t), k0 , k1 ∈ R polynomial is given by:
or, with an abuse of the notation, in operational calculus Pi1 (s) = s2 + l1 s + l0 (37)
terms:
if l1 , l0 > 0 the Hurwitz condition is satisfied and the
   tracking error dynamics is exponentially stable. The same
1 
J dωR∗
k 1 s + k0
Ip = − ∗
(ω − ωR (t)) (31) approach is proposed for the current control in phases 2 and
2 ep dt s 3.

12
 interval of .05 [ms], obtaining fast and good parameter
estimates, as depicted in figure 2. In the second part of the
scheme, the estimated parameters are used in the devised
control inputs given in (31), (36). The gain parameters of
the outer loop controls were chosen so that the closed loop
tracking error characteristic polynomials (32) exhibited the
form s2 + 2ζw ωnω + ωnω 2
, with ζω = 1, ωnω = 100.
Analogously, the inner loop control gains were set to match
the closed loop error characteristic polynomial (37) with a
second order stable error dynamics dominated by Pid (s) =
s2 + 2ζi ωni s + ωni2
, with ζi = 4, ωni = 300. To illustrate
the capacity of the control scheme under variations of the
trajectory to be tracked, the reference velocity trajectory was
defined by the following function:
⎧
⎨ 300 0 ≤ t < .25
∗
ωR = 100 0.25 ≤ t < .5
⎩
100 + 260 sin(20(t − .5)) .5 ≤ t
As it is shown in figures 3, 4, after the transient response, we
can appreciate an excellent velocity tracking, where the load
torque perturbation input effect is negligible. The obtained
voltage inputs are depicted in figure 5.

Fig. 1. Inner and Outer Control Loops

V. N UMERICAL E XAMPLE
To show the effectiveness of the proposed approach, we
performed some numerical simulations considering numer-
ical parameters of a commercially available BLDC motor.
In this case, the peak voltage of the motor was 200 [V]
and the peak current was 10 [A]. The stator resistance was
set to be RS = .7 [Ω], the inductance and self inductance
were, respectively, L = 2.72 [mH], M = .15 [mH]. The
coefficient of mutual inductance was ep = .5128 [Nm/A].
We considered a rotor load inertia value of J = .0002 [kg-
m2 ]. Finally, the load torque was assumed to be τL = .01
[N-m]. The measurable states are affected by additive zero
mean noise signals with a Signal to Noise Ratio of 20 Fig. 2. Parameter identification.
[dB]. The proposed scheme was carried out in two steps:
Identification and Control. In the first step an open loop
input sufficiently rich in harmonic components was applied
to ensure the conditioning of the identifier algebraic system
of equations (18), (24). The generation of the input signals
uS1 , uS2 , uS3 is based on the principle of the trapezoidal
trend exhibited by this class of motors in constant angular
velocity regime. We decided to apply trapezoidal profiles
according to the nominal motor parameters; for this instance,
an artificial constant velocity reference ωref = 600 [rad/s]
was taken. The voltage inputs for the identification process Fig. 3. Velocity control results.
(denoted dy ū) were given by
ūS1 = 70e(ωref t)
VI. C ONCLUDING R EMARKS
ūS2 = 70e(ωref t − 2π/3) (38)
In this article, a parameter identification-based control
ūS3 = 70e(ωref t − 4π/3)
method was proposed to solve the problem of controlling
We applied these open loop control signals during a time uncertain brushless DC motors with excellent results in

13

Fig. 4. Current tracking control.
Fig. 5. Voltage control inputs.
trajectory tracking tasks. The control approach consist in on-
line identifying the motor parameters in order to cancel out
the nonlinearities of the system and then to control the motor
with a linear Generalized PI approach via two control loops;
an outer velocity control loop and an inner current control
loop. The scheme can represent a good alternative for the
design of a sufficiently simple, yet effective, control scheme
for a class of electrical machines which are customarily
controlled by means of complex nonlinear approaches.
The identification scheme here proposed represents an
improvement of the algebraic identification algorithms, spe-
cially in their performance against noisy measurements. A
suitable invariant filtering strategy has been developed which
is based on the minimization of an integral quadratic error.
In the application example, the numerical results showed sat-
isfactory accuracy in presence of conventional measurement
noise levels.
The identification method produced the actual parameter
values in a very short amount of time (.01 [s]). This fact
allows a fast tuning of a certainty equivalence control design
14
for this class of systems, motivating to explore, as a future
work, the corresponding implications on an experimental
framework.
VII. ACKNOWLEDGMENTS
The authors gratefully acknowledge the support of
Conacyt-México through Research Contract 60877.
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