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Mathematical Problems in Engineering
Volume 2013 (2013), Article ID 290310, 5 pages
Research Article

Fractional Order Nonlinear Feedback Controller Design for PMSM Drives

School of Mechanical Engineering, Xi'an University of Science and Technology, Xi'an, Shaanxi 710054, China

Received 4 November 2012; Revised 10 March 2013; Accepted 11 March 2013

Academic Editor: M. Onder Efe

Copyright © 2013 Jian-Ping Wen. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Fractional order integral is introduced into active disturbance rejection controller (ADRC) to establish the structure of fractional order proportional integral controller (FPI). Fractional order ADRC (FADRC) is designed by replacing the nonlinear state error feedback control law using nonlinear function combination in ADRC with FPI, which can combine the high performance of ADRC estimating disturbances with the characteristics of fractional order calculus more really describing the physical object and spreading the stable region of the system parameters. The proposed FADRC is applied to permanent magnet synchronous motor (PMSM) speed servo system in order to improve robustness of system against the disturbances. Compared with ADRC, simulation results verify that the proposed control method has given very good robust results and fast speed tracking performance.