A Switched Ultra-Local Model-Free Predictive Controller for PMSMs

Existing model-free predictive control (MFPC) methods are primarily based on mature controller design formulas, with various observers added to these controllers. Currently, there is a lack of modifications to the mechanism of model-free predictive control itself. This letter starts with the original formulation of the ultra-local model and redesigns a model-free predictive control method from the fundamental formula level. First, a term based on an exponential-like function is proposed, modifying the proportion of the controller's error term, called exponential MFPC. Subsequently, a switching control concept is introduced into the controller design, facilitating better integration of the existing method with the new one, ensuring system performance across different error intervals. Ultimately, the effectiveness of the proposed switched ultra-local MFPC is demonstrated by the experimental result of the superiority in the loading aspect with smaller speed overshoot and speed oscillations.