Observer-based compensation of additive periodic torque disturbances in permanent magnet motors

Michael Ruderman, Alex Ruderman, Torsten Bertram

Research output: Contribution to journalArticlepeer-review

50 Citations (Scopus)


The impact of additive periodic torque disturbances on the controlled motion of permanent magnet motors can be significant. The paper shows how an observer-based drive control can efficiently reject the harmonic torque disturbances providing smooth angular velocity. The proposed control design is based on the state-space torque harmonics representation and Luenberger observer that proved to be adequate. The designed control algorithms are verified using an experimental setup with a permanent magnet synchronousmotor with well-detectable torque harmonics. The rejection of additive position periodic torque disturbances is experimentally demonstrated for two first harmonics and that for different angular velocities.

Original languageEnglish
Pages (from-to)1130-1138
Number of pages9
JournalIEEE Transactions on Industrial Informatics
Issue number2
Publication statusPublished - May 1 2013
Externally publishedYes


  • Cogging torque
  • Harmonics
  • Motion control
  • Observer design
  • Periodic disturbances
  • Permanent magnet motor

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Information Systems
  • Computer Science Applications
  • Electrical and Electronic Engineering

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