The objective of this study is to achieve permanent magnet synchronous motor (PMSM) speed control in PSIM using a self-tuning PI controller with dual feedforward artificial neural network (DFNN). The two parameters of the PI controller gain, kp and ki, can be controlled online by selftuning in the motor control system verification. The speed response, robustness of anti-load disturbance performance are better compared to a single feedforward artificial neural network (SFNN). Keywords-PMSM; Field-oriented-control; Feedforward a rti fici al n eu ral n et wo rks ; Sel f-t un in g PI c o ntr oll er

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