Research Article
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⋅cm2 | 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] |
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