QFT Based Robust Positioning Control of the PMSM Using Automatic Loop Shaping with Teaching Learning Optimization

Table 1

PMSM parameters with nominal values and their range.

Parameter	Nominal value	10% uncertainty	40% uncertainty
Stator resistance (), ohm	33	[29.7, 36.3]	[19.8, 46.2]
Self-inductance (), mH	5.4	[4.86, 5.94]	[3.24, 7.56]
Mutual inductance (), mH	0.4	[0.36, 0.44]	[0.24, 0.56]
Rotor inertia (), g⋅cm^2	0.16	—	—
Number of rotor teeth ()	6	—	—
Viscous friction () (N⋅m⋅s/rad)10^−5	1.35	[1.215, 1.485]	[0.81, 1.89]
Tooth pitch (), rad	/12	—	—
Stationary current (), Amp	0.15	—	—
Flux linkage ()10^−3	1.2	[1.08, 1.32]	[0.72, 1.68]