Current control for synchronous motor drives: Direct discrete-time pole-placement design

Marko Hinkkanen, Hafiz Asad Ali Awan, Zengcai Qu, Toni Tuovinen, Fernando Briz

Research output: Contribution to journalArticleScientificpeer-review

62 Citations (Scopus)
392 Downloads (Pure)


This paper deals with discrete-time models and current control methods for synchronous motors with a magnetically salient rotor structure, such as interior permanent-magnet synchronous motors and synchronous reluctance motors (SyRMs). The dynamic performance of current controllers based on the continuous-time motor model is limited, particularly if the ratio of the sampling frequency to the fundamental frequency is low. An exact closed-form hold-equivalent discrete motor model is derived. The zero-order hold of the stator-voltage input is modeled in stationary coordinates, where it physically is. An analytical discrete-time pole-placement design method for two-degrees-of-freedom proportional-integral current control is proposed. The proposed method is easy to apply: only the desired closed-loop bandwidth and the three motor parameters (Rs, Ld, Lq) are required. The robustness of the proposed current control design against parameter errors is analyzed. The controller is experimentally verified using a 6.7-kW SyRM drive.

Original languageEnglish
Pages (from-to)1530-1541
JournalIEEE Transactions on Industry Applications
Issue number2
Publication statusPublished - 17 Mar 2016
MoE publication typeA1 Journal article-refereed


  • current control
  • delay
  • discrete-time model
  • interior permanent-magnet synchronous motor (IPM)
  • saliency
  • synchronous reluctance motor (SyRM)
  • zero-order hold (ZOH)
  • current regulators
  • magnetic saturation
  • reluctance motors


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