Adaptive Fuzzy Tracking Control for a Permanent Magnet Synchronous Motor via Backstepping Approach

Table 1

The denotation of the PMSM parameters.

Parameter	Denotation	Parameter	Denotation
$\omega$	The rotor angular velocity	$R_s$	The stator resistance
$i_d$	The $d$ axis current	$i_q$	The $q$ axis current
$L_d$	The $d$ axis stator inductor	$L_q$	The $q$ axis stator inductor
$u_d$	The $d$ axis voltage	$u_q$	The $q$ axis voltage
$n_p$	The pole pair	$J$	The rotor moment of inertia
$T$	The electromagnetism torque	$T_L$	The load torque
$B$	The viscous friction coefficient	$\mathrm{\Phi }$	The magnet flux linkage of inertia