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In this paper, we design a linear time-invariant two-input-two-output controller for the permanent magnet synchronous motor (PMSM). First, the nonlinear system of a PMSM is approximated using a linear system with structured uncertainties according to the geometric structures of PMSM. We then design a linear controller for the approximated linear system using a standard $\mu$-synthesis robust control method. The main contribution of this paper is that we recognize that the nonlinear PMSM can be reduced to a linear system to apply the mature modern control theory, without referring to classical PID control, thus largely reducing the design effort. The newly designed robust controller is not only easy to calculate, it is also easy to implement and requires less sensors. By virtue of modern robust control theory, it responds fast to exogenous inputs, and robust against parameter uncertainties as well. The applicability of the designed robust controller is both numerically simulated and experimentally verified on a TMS320 F28335 based control board, with performance further compared with the widely used field-oriented controller. [ABSTRACT FROM PUBLISHER]

General linear active disturbance rejection control (LADRC) is studied in the paper. First, it is shown that there are some limitations in the conventional LADRC, and then some properties of general LADRC are analyzed. It is proved that any strictly proper controller with integration can be implemented via a general LADRC, thus extends the application range of LADRC. Finally, a method is proposed to tune the general LADRC using the same bandwidth idea as the conventional LADRC. [ABSTRACT FROM AUTHOR]

Linear active disturbance-rejection control (LADRC) is investigated in this paper. First, it is shown that LADRC structure can be changed to a two-degree-of-freedom (TDF) internal model control (IMC) structure, where the nominal model for the IMC design is simply a multiple integral plant, so analysis of LADRC can be done via the IMC framework. Then it is shown that the widely adopted bandwidth-tuning method for LADRC is equivalent to tuning the two time constants of the setpoint filter and the disturbance-rejection filter in IMC. Finally, to improve the control performance of an LADRC, a general method is proposed to incorporate extra dynamics of the controlled plant in LADRC. [ABSTRACT FROM AUTHOR]