Smooth speed control of motor drives with asymptotic disturbance compensation

Yu Sheng Lu*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

23 Citations (Scopus)


For electrical drive speed control, this paper presents a scheme of jerk-constrained time-optimal control (JCTOC) that guarantees a minimum-time output response of the nominal drive under a magnitude constraint on machine jerk. By confining the machine jerk to the admissible range, smooth machine operations are achieved. Furthermore, the JCTOC is augmented with a novel disturbance observer (DOB) that ensures asymptotic rejection of an unknown disturbance with multiple frequency components. This is attained by incorporating a lowpass filter and several bandpass filters into the DOB structure, which is tuned based on the knowledge of the disturbance frequencies. The effectiveness of the proposed scheme is demonstrated through experimental studies of a permanent-magnet synchronous motor drive suffering from multiple-frequency disturbances.

Original languageEnglish
Pages (from-to)597-608
Number of pages12
JournalControl Engineering Practice
Issue number5
Publication statusPublished - 2008 May
Externally publishedYes


  • Continuous action controllers
  • Control schemes
  • Disturbance rejection
  • Motor control
  • Sliding curves
  • Velocity control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Applied Mathematics


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