This research delves into the development of a composite model predictive controller designed for the current loop in a permanent magnet synchronous motor (PMSM) servo system. In order to enhance the performance of a system, the proposed controller integrates an extended state observer (ESO) and actuating delay compensation. The ESO is employed for the estimation of the lumped disturbance affecting the PMSM, while the prediction model incorporates both the estimated lumped disturbance and the delayed actuating output to derive an optimized control law. Simulation and experimental results further validate the effectiveness of the approach, offering an innovative solution to the actuating delay challenge and a considerable increase in the bandwidth of the current loop.
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