Torque Ripple Minimization in PMSM Based on an Indirect Adaptive Robust Controller

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/mpe/volume-2017/9512351/figures/9512351.fig.008a.svgz" name="9512351.fig.008a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Estimation of <svg height="12.5794pt" id="M170" style="vertical-align:-3.29107pt" version="1.1" viewbox="-0.0498162 -9.28833 11.9215 12.5794" width="11.9215pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M475 507C475 612 440 712 326 712C139 712 23 420 23 215C23 96 58 -12 180 -12C369 -12 475 293 475 507ZM391 522C391 486 387 448 379 394H126C155 538 222 677 310 677C386 677 391 571 391 522ZM373 346C344 193 283 22 189 22C126 22 106 114 106 196C106 243 111 293 118 346H373Z" id="g113-230"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.149,3.132)"><path d="M538 684C542 703 539 710 529 710C512 710 455 682 363 674L361 644H396C444 644 448 642 438 594L405 438C373 450 347 451 336 451C288 451 200 416 147 374C69 312 24 207 24 113C24 29 60 -12 94 -12C126 -12 156 4 196 30C231 53 296 100 346 166H348L328 81C311 10 325 -12 348 -12C380 -12 450 24 512 98L495 125C466 97 431 70 417 70C408 70 408 80 411 98L538 684ZM390 373L361 240C336 196 210 56 145 56C132 56 113 73 113 131C113 216 156 338 220 379C243 394 266 402 303 402C331 402 375 388 390 373Z" id="g50-101"></path></g></svg></td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/mpe/volume-2017/9512351/figures/9512351.fig.008b.svgz" name="9512351.fig.008b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Estimation of <svg height="14.7625pt" id="M171" style="vertical-align:-5.47417pt" version="1.1" viewbox="-0.0498162 -9.28833 11.3277 14.7625" width="11.3277pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M475 507C475 612 440 712 326 712C139 712 23 420 23 215C23 96 58 -12 180 -12C369 -12 475 293 475 507ZM391 522C391 486 387 448 379 394H126C155 538 222 677 310 677C386 677 391 571 391 522ZM373 346C344 193 283 22 189 22C126 22 106 114 106 196C106 243 111 293 118 346H373Z" id="g113-230"></path></g><g transform="matrix(.0091,0,0,-0.0091,6.149,3.132)"><path d="M481 430L460 436C440 442 393 451 366 451C348 451 325 448 313 446C267 437 195 409 147 367C79 308 24 211 24 105C24 37 56 -12 93 -12C121 -12 156 1 199 32C246 66 313 122 349 168H351L286 -147C274 -205 261 -215 210 -224L199 -226L193 -255L438 -243L442 -214L417 -212C364 -208 359 -200 370 -140L433 204C455 324 469 389 481 430ZM391 385C382 336 366 260 358 238C321 178 209 59 143 59C129 59 115 83 115 131C115 207 152 317 220 373C243 392 282 403 314 403C348 403 374 395 391 385Z" id="g50-114"></path></g></svg></td></tr></table>

<div>Estimated parameters of indirect adaption law.</div>

Mathematical Problems in Engineering

fig8

Figure 8

Figure 8: Torque Ripple Minimization in PMSM Based on an Indirect Adaptive Robust Controller 