Electrical Engineering

, Volume 100, Issue 1, pp 177–193 | Cite as

Nonlinear speed sensorless control of a surface-mounted PMSM based on a Thau observer

  • Paul J. Campos
  • Luis N. Coria
  • Leonardo Trujillo
Original Paper


This paper presents an alternative to solve the speed sensorless control of a surface-mounted synchronous motor based on localization of compact invariant sets (LCIS) and the Thau observer. Through the LCIS, the domain of attraction of the system dynamics is analyzed, allowing to obtain global knowledge about its operational bounds and its associated Lipschitz constant. Necessary and sufficient conditions for existence of a stable observer are fulfilled by two inequalities, providing two different sets of stability conditions and, as a consequence, two observers are proposed. The observer design is based on the availability of stator currents for measurement and stator voltages for feedback in a rotating reference frame. The designed observers are able to work in a wide speed range and also estimate rotor position accurately, even at low speed and zero-crossing speed. Simulations demonstrate that the observers can estimate both rotor speed and position. Additionally, the observers are experimentally validated with the Technosoft\(^{\textregistered }\) MCK28335 platform. Results show that the observers can solve sensorless problem in a real-world scenario.


Surface-mounted PMSM Speed sensorless control Thau observer MCK28335 platform 



This work was supported by TecNM Project 5153.13-P, PRODEP Research Group ITTIJ-CA-6 and CONACYT Project 178323. We are pleased to acknowledge the helpful and insightful comments of the reviewers.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2016

Authors and Affiliations

  1. 1.Departamento de Ingeniería Eléctrica y ElectrónicaTecnológico Nacional de México-Instituto Tecnológico de TijuanaTijuanaMexico

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