It is well known that the position tracking control problem of permanent magnet synchronous motor (PMSM) is a challenging task when parameter uncertainties and time-varying load torque disturbances are taken into account. In this paper, a two-step controller design strategy composed of triple-loop control and internal model control is proposed to achieve a wide range of position tracking control of PMSM, where the reference position can be a relatively large value. In contrast, only local position tracking control problem has been solved by an internal model approach from output regulation theory in the recent work. In addition to the simulation results, the first experimental study is conducted to demonstrate the effectiveness of the proposed two-step control method. It is worth mentioning that our design can guarantee precise position tracking with a wide position range despite parameter uncertainties and time-varying load torque disturbances.
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