The permanent magnet AC (PMAC) motor drive is a bilinear closely coupled system subject to saturation due to finite DC supply voltage and current limitation for hardware protection.\ud Model reference control can be applied to the PMAC motor, with PI current controllers tracking the model reference current command values. The finite supply voltage constraint results in degradation of system performance when the current regulators saturate. In this paper, a dynamic model reference controller is presented which includes the current and voltage limits and constrains the magnitude of the current vector command signals, operating the system just within the limits of saturation. This allows the PI controllers to accurately track the command signals and retain control of the current vector. The controller ensures maximum possible dynamic performance of the system. The system and controller is presented and experimentally verified, and the PI controller gains are found by Monte Carlo simulation
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