This paper is concerned with PID position regulation of robot manipulators actuated by permanent magnet synchronous motors (PMSMs). We present a global asymptotic stability proof when the electric dynamics of these actuators is taken into account. Our controller is so simple that it differs from standard field oriented control (SFOC) of PMSMs in only three simple nonlinear terms that have to be added and a nonlinear PID controller which is used instead of a classical PID controller. Thus, our proposal represents the closest result to SFOC of PMSMs provided with a formal global asymptotic stability proof. We present an advancement, if modest, towards presenting a global stability proof for SFOC when used in robotics.

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This paper is concerned with velocity control in a permanent magnet synchronous motor (PMSM) when it is fed by an inverter-DC/DC Buck power converter system as power amplifier. We present, for the first time, a formal local asymptotic stability proof to solve this control problem. We stress that this is the first time that this problem is solved for an AC motor. Our control scheme is simple when compared to differential flatness-and backsteping-based proposals in the literature to solve this problem for DC motors. The key for these achievements is the employment of a novel passivity-based approach which takes advantage of the natural energy exchange among the electrical and mechanical subsystems that compose the inverter-DC/DC Buck power converter-PMSM system. The main features of this novel passivity-based approach are summarized in this paper.INDEX TERMS Energy-based control, inverter-dc/dc buck power converter system, Lyapunov stability, permanent magnet synchronous motors, velocity control.