Skip to main content

Research Repository

Advanced Search

Torque Ripple Reduction of PMSMs Using a Novel Angle-Based Repetitive Observer

Tang, Mi; Formentini, Andrea; Odhano, Shafiq Ahmed; Zanchetta, Pericle


Mi Tang

Andrea Formentini

Shafiq Ahmed Odhano


The angle-based repetitive controller (RC) has been applied successfully in literature for torque ripple suppression in variable speed permanent magnet synchronous machines (PMSMs). The RC is preferred because of its learning capability which allows the cancellation of all periodic ripple from multiple sources. However, its tuning method has not yet been proposed. Since the structure of the repetitive controller is found similar to the disturbance observer (DOB) which is convenient to tune through pole placement, this paper merges the angle-based RC and DOB into a novel angle-based repetitive observer (ARO) for the first time for the torque ripple reduction in PMSMs. ARO takes advantages of its DOB structure that it can be designed separately and can easily be added into an existing control loop. Taking advantages of its RC nature, ARO can tackle a wide frequency range of torque ripple even in the presence of measurement noise. The experimental test results have confirmed the robust performance of ARO under five conditions, including the ideal integral delay, the fractional delay, the load transient, the speed transient and the detuned mechanical parameters conditions. The execution time of the ARO is less than 10 ?s.


Tang, M., Formentini, A., Odhano, S. A., & Zanchetta, P. (2020). Torque Ripple Reduction of PMSMs Using a Novel Angle-Based Repetitive Observer. IEEE Transactions on Industrial Electronics, 67(4), 2689-2699.

Journal Article Type Article
Acceptance Date Mar 28, 2019
Online Publication Date Apr 29, 2019
Publication Date Apr 1, 2020
Deposit Date Jul 8, 2019
Publicly Available Date Jul 10, 2019
Journal IEEE Transactions on Industrial Electronics
Print ISSN 0278-0046
Electronic ISSN 1557-9948
Publisher Institute of Electrical and Electronics Engineers
Peer Reviewed Peer Reviewed
Volume 67
Issue 4
Pages 2689-2699
Keywords Repetitive control, Disturbance observer, Reduced-order observer, Torque ripple reduction, Variable speed drives
Public URL
Publisher URL


Torque Ripple Reduction Of PMSMs Using A Novel Angle-based Repetitive Observer (6.6 Mb)

You might also like

Downloadable Citations