Linear robust control of a synchronous motor, experimental comparison withnon-linear control

We present a linear robust design method (of quantitative feedback theory t ype) to control a permanent magnet synchronous motor to achieve demanding t ime domain quantitative specifications despite large parametric and load un certainties which affect it. The linear control is compared with a non-line ar design (of adaptive feedback linearization type) for the same motor. The experimental results show that: the linear control compares favourably to the non-linear one on robustness of performance and stability, and simplici ty of implementation; both the linear and non-linear control have good sens or noise response. The non-linear method did prove the non-local stability of the design while the linear method did not.