Purpose -The purpose of this paper is to discuss the design and verification of a new control algorithm for the drive with permanent magnet synchronous motor (PMSM) and flexible coupling based on "Forced dynamics control". Control laws are derived and tested for the rotor and load angle control and achieve non-oscillatory position step response with a specified settling time. Design/methodology/approach -"Forced dynamics control" is a new control technique based on feedback linearization which forces rotor or load position to follow demanded position with prescribed closed-loop dynamics. The proposed control structure is developed in two steps: first, the feedback linearisation is applied to the rotor speed and then similar technique is used for position control loop. Findings -The proposed controller is of the cascade structure, comprising an inner speed control loop, respecting vector control principles and outer position control loop designed to control the rotor or load angle, respectively. Estimates of load torques acting on the motor and load side as inputs of control algorithms are produced in observers and used to compensate disturbances offering a certain degree of robustness. Preliminary experiments confirm that proposed system follows the ideal closed-loop dynamics with moderate accuracy.Research limitations/implications -The focus is on experimental verification of the position control of flexible PMSM drive with two position sensors and moderate precision, where the oscillations due to hardware setup, achieved sampling frequency and corresponding observers adjustment are limited up to 50 rad s 2 1 . Practical implications -The designed control structure can substantially improve control performance of industrial plants subjects to torsion oscillations. Originality/value -Experimental results of a novel control structure for the PMSM drives with torsion oscillations are sufficiently promising and confirmed that the rotor and load angle responses follow the prescribed ones fairly closely.

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The control system for position control of the drive employing PMSM based on the principles of sliding mode control and respecting the principles of vector control is presented. Designed controller is chattering free and complies with demanded control precision. Described control technique divides PMSM into two channels, which enable to control motor flux and torque separately. The controller is of the parallel structure, comprising a control loop for control of machine magnetic flux and parallel loop for control of the machine torque and rotor angle. To achieve demanded precision and to eliminate control chattering a smoothing integrator is introduced into both parallel controllers and furthermore the signum function is replaced by a proportional high gain in the final version of the controllers. The simulations and preliminary experimental results indicate that the control systems yield the desired robustness and more complex investigations are recommended.

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