This paper presents a robust nonlinear generalized
predictive control (RNGPC) strategy applied to a permanent
magnet synchronous motor (PMSM) for speed trajectory
tracking and disturbance rejection. The nonlinear predictive
control law is derived by using a newly defined design cost
function. The Taylor series expansion is used to carry out the
prediction in a finite horizon. No information about the
external perturbation and parameters uncertainties are needed
to ensure the robustness of the proposed RNGPC. Moreover,
to maintain the phase current within the limits using saturation
blocks, a cascaded structure is adopted and an anti-windup
compensator is proposed. The validity of the proposed control
strategy is implemented on a dSPACE DS1104 board driving in
real-time a 0.25 kW PMSM. Experimental results have
demonstrated the stability, robustness and the effectiveness of
the proposed control strategy regarding trajectory tracking
and disturbance rejection
