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IEEE International Conference on Innovations in Green Energy and Healthcare Technologies(ICIGEHT’17)

Performance Analysis of Speed Control of PMSM

Drive with Sinusoidal PWM
differing and
in conceptSpace Vector
and performance, have been proposed
to achieve, wide linear modulation range, lower switching
PWM fed Voltage Source Inverters
R.Shanthi Dr.S.Kalyani R.Thangasankaran
Assistant Professor Professor & Head PG Student
Department of EEE Department of EEE Department of EEE
Kamaraj College of Engineering & Kamaraj College of Engineering & Mepco Schlenk Engineering College,
Technology, Virudhunagar- 626001 Technology, Virudhunagar- 626001 Sivakasi- 626005
Tamilnadu, India Tamilnadu, India Tamilnadu, India
Phone: +91 - 8675764256 Phone: +91 - 9443726963 Phone: +91 - 9442084161
Email: shanthi_2k1@yahoo.co.in Email: skalyani.mdu@gmail.com Email: goldsankaran@gmail.com

ABSTRACT - This paper presents the simulation analysis of
voltage source inverters using space vector pulse width
modulation (SVPWM) for controlling the speed of
Permanent Magnet Synchronous Motor (PMSM). It is well
known that field Oriented Control (FOC) of PMSM drive is
widely preferred in high performance drive systems, owing
to its unique characteristics like high efficiency, better power
factor, low inertia, superior power density and high torque to
volume ratio. This SVPWM scheme adjusts the speed of the
motor by controlling the frequency and amplitude of the
stator voltage. Moreover, this SVPWM method is an
advanced intense computational modulation method with
several advantages such as less harmonic content, effective
utilization of DC bus and complete implementation by a
single chip microprocessor, relative to other PWM
modulations. Due to these much advantages, SVPWM has
found increasing applications in power converters and motor
control. This paper focuses on modeling, design and analysis
of SVPWM fed 3-Phase Voltage Source Inverter (VSI)
model, for speed control of PMSM drive using
MATLAB/SIMULINK.
Keywords: PMSM, SVPWM, FOC & VSI.
I. INTRODUCTION
Among the different types of AC motors, 90% of
the industrial applications are occupied by induction
motors, and they are also mainly used in applications,
where the field weakening can be utilized to avoid the
over-sizing of the drive [6], [9], [11]. But in recent trends,
the Permanent Magnet Synchronous Motor (PMSM) is
gaining wide importance in industrial applications in drive
technology due to some of its advantageous characteristics
like high torque to inertia ratio, better power factor, higher
efficiency, and robustness [5]. PMSM dominates the
motion control industry according to the current trend.
With the progress of power electronics technology,
PMSM receives a great attention for drive applications
[14], [15]. The power supply to the PMSM is fed with the
help of Voltage Source Inverter (VSI). VSI synthesize AC
Voltage and Frequency from a constant DC Voltage using
Pulse Width Modulation (PWM) Techniques [1], [3], and
is widely used in large applications such as adjustable
speed drives, uninterruptable power supplies and
Frequency Converters. PWM Techniques have been
studied extensively over the past decades. Recent
literature review reveals that, a variety of methods,
978-1-5090-5778-8/17/$31.00©2017 IEEE
losses, very less Total Harmonic Distortion (THD), Easy
Implementation and Less Commutation Time. Different
methods of Pulse Width Modulation (PWM) schemes
have been used to obtain Variable Voltage and Variable
Frequency (VVVF) supply. The most widely used PWM
schemes for three-phase voltage source inverters are
carrier based sinusoidal PWM and Space Vector PWM
(SVPWM). There is an increasing trend towards use of
Space Vector PWM (SVPWM) in VSI because of their
easier digitized realization and better DC bus utilization
[2], [7], [8]. In many industrial applications, Sinusoidal
Pulse Width Modulation (SPWM) is used to control the
inverter output voltage. SPWM regulates performance of
the drive by operating VSI in the range between 0 to 78
percent of the output value that would be reached by
square wave operation. Basically, VSI can be operated in
different Modulation Index (MI) which are classified as
Amplitude MI and Frequency MI. Amplitude modulation
index is defined as the ratio of the magnitude of the
reference signal to the magnitude of the carrier signal. If
the amplitude modulation index surpasses this value, then
the linear relationship between amplitude modulation
index and ac output voltage no longer exists and hence the
over-modulation methods are required. To overcome these
drawbacks, Space Vector PWM (SVPWM) is found to be
a better alternative for SPWM in the present scenario. The
SVPWM inverter is used to provide 15% increase in the
DC bus voltage utilization and low output harmonic
distortion compared with the conventional sinusoidal
PWM inverter [16]. Speed Control of PMSM Drives are
widespread electromechanical systems suitable for a large
spectrum of industrial applications [4], [12]. As the speed
tends to change due to VVVF, these PWM fed VSI
Inverters are very much useful to control the speed of
PMSM. Based on the above motivation, this paper focuses
a new method for speed control of PMSM drives with
SPWM and SVPWM fed 3 phase VSI. The software
model for speed control of PMSM drive is developed
using MATLAB/Simulink. A detailed performance
analysis of two methods of PWM (Sinusoidal PWM and
Space Vector PWM) used in VSI is carried out; thereby an
efficient open loop control strategy for speed control of
PMSM drive is proposed.
The organization of the paper is as follows: The
topology of Voltage Source Inverter (VSI) is described in
Section 2. Section 3 presents the mathematical model of

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IEEE International Conference on Innovations in Green Energy and Healthcare Technologies(ICIGEHT’17)
PMSM. Sinusoidal PWM (SPWM) and Space Vector
PWM (SVPWM) techniques are explained in Section 4.
The proposed methodology is described in Section 5.
Results and discussions of the developed software model
of speed control of PMSM using SPWM and SVPWM is
demonstrated in Section 6. The summary, concluding
remarks and recommendations for future improvement are
given in Section 7 and Section 8 respectively.
II. VOLTAGE SOURCE INVERTER
The main objective of static power converters is
to produce an ac output waveform from a dc power
supply. According to the type of ac output waveform,
different topologies can be considered for Voltage Source
Inverters (VSIs) where in the independently controlled ac
output will be a voltage waveform. The basic topology for
VSI shown in figure.1 is most widely used because they
2
III. MATHEMATICAL MODEL OF PMSM
The PMSM is fed by a Voltage controlled Pulse Width
Modulated inverter. The motor currents are decomposed
into id and iq components, which are respectively flux and
torque components in the rotor based d-q coordinates
system [10], [11]. The mathematical model of PMSM
motor is developed based on the following assumptions.
x Saturation is neglected.
x Induced e.m.f is sinusoidal.
x Eddy currents and Hysteresis losses are
negligible
The differential equations governing the performance of
PMSM motor is given by equation (1) to (4) in the rotor
reference frame (d-q frame) based on the above said
assumptions.
d 1 R Lq
naturally behave as voltage sources as required by many id  vd  id  PZ r iq (1)
industrial applications, such as Adjustable Speed Drives dt Ld Ld Ld
(ASDs), being the most popular application of inverters
OPZ r
[2]. The same topology can be used as current source
inverters (CSIs), where in the independently controlled ac
d
iq  1
vq 
R L
iq  d PZ r id  (2)
dt Lq Lq Lq Lq
output will be a current waveform.

Te
3
2
>
P Oiq  Ld  Lq id iq @ (3)

d 1
Zr Te  FZr  Tm  (4)
dt J

Where,

Ld , Lq - d and q axis inductances

R - Resistance of the stator windings

id, iq - d and q axis currents

Vd, vq - d and q axis voltages

ωr - Angular velocity of the rotor

λ - Flux linkage due to the rotor magnets linking

Figure1 Three-phase Voltage Source Inverter fed PMSM
The topology structure shown in figure.1 is also
widely used in medium-voltage industrial applications,
where high-quality voltage waveforms are required. Static
power converters, specifically inverters, are constructed
from power switches and therefore AC output waveforms
are made discrete in nature. This leads to the generation of
waveforms that feature fast transitions rather than smooth
ones. This behaviour can be further enhanced by a suitable
modulating technique so as to control the amount of time
and the sequence used to switch the power valves on and
off. The modulating techniques mostly adopted are the
carrier-based technique (e.g., Sinusoidal Pulse Width
Modulation, SPWM), the space-vector (SV) technique,
and the Selective-Harmonic-Elimination (SHE) technique.
the stator
Te - Electromagnetic torque
P - Number of pole pairs
J - Combined inertia of rotor and load
F - Combined viscous friction of rotor and load
Tm - Shaft mechanical torque
The mathematical model of PMSM motor as given by
equation (1) to (4) is realized in MATLAB/Simulink
environment. The design of the PMSM model involves
various constant parameters like Voltage, Frequency, Pole
pairs etc. The values of parameters used in the simulation
model for the development of PMSM drive is given in
Table 1.

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TABLE 1: Parameters of PMSM and Output pulses of this operation can be directly
delivered to the switching devices of the Inverter.
Voltage (V) 220
Frequency (Hz) 50
Number of pole pairs P 2
Rs (Ω) 2.875
Ld (mH) 8.5
Lq (mH) 8.5
λ (Wb) 0.175
F (Nm/(rad/s)) 0.001 PWM Pulses
J (Kgm2) 0.0008

IV. PULSE WIDTH MODULATION (PWM)

TECHNIQUES Figure 2 Operating Principle of SPWM
The most efficient method of controlling output
voltage of an inverter is to incorporate an efficient PWM The frequency of Vtri and Vcarrier are fs and f1 respectively,
control technique. In PWM control method, a fixed DC where, fs = PWM frequency and f1 = fundamental
voltage is supplied to inverter and a controlled AC output frequency.
voltage is obtained by adjusting on-off period of inverter The inverter output voltages are determined as follows:
devices. Pulse Width Modulation variable speed drives are When VCarrier > Vtri, VA0 = Vdc/2
increasingly applied in many new industrial applications
that require superior performance.
Recently, developments in power electronics and
semiconductor technology have led improvements in
power electronic systems [10]. Hence, different circuit
configurations namely PWM inverters have become
popular and gained considerable interest among
researchers. A number of Pulse Width Modulation (PWM)
schemes are used to obtain variable voltage and frequency
supply. The PWM schemes used in this paper for voltage
source inverter are Sinusoidal PWM and Space Vector
PWM techniques. This paper uses Sinusoidal PWM and
Space Vector PWM in simulation studies.
There is an increasing trend of using space vector
PWM (SVPWM) because of its less harmonic content in
voltage, Increase fundamental output voltage by 15% &
smooth control of Motors [13]. A space vector PWM
technique is also developed based on the vector space
decomposition. In space vector PWM method for a 2-level Figure 3 Waveforms for Line and Phase Voltages for
inverter fed PMSM drive, a number of Pulse Width SPWM
Modulation (PWM) schemes are used to obtain variable The reference signal (3 phase sinusoidal balanced voltage)
voltage and frequency supply from an inverter. and carrier wave signal (triangular waveform), are
compared which in turn generates gate pulses of SPWM
A. SINUSOIDAL PULSE WIDTH MODULATION technique as shown in figure.3
Single-pulse modulation, Multiple-pulse
modulation and Sinusoidal Pulse Width Modulation B. SPACE VECTOR PULSE WIDTH MODULATION
(SPWM) are the basic types of analog PWM techniques. (SVPWM)
Of these, the most advanced analog PWM method is the The circuit model of a typical two-level three-
SPWM or also called Carrier Based Pulse Width phase voltage source PWM inverter as depicted in
Modulation (CB-PWM) as stated by Bowes (1975) [13]. Figure.1 has been already discussed in section 2. The six
The operating principle of this method is based on power switches S1 to S6 (3 in upper leg and 3 in lower
comparison of sinusoidal signal (Reference Signal) with leg) are controlled by the switching variables a, a′, b, b′, c
the triangular signal (Carrier Signal) as shown in figure.2, and c′ which decides the shape of the output. When an
resulting in a train of rectangular pulses with variable upper transistor is switched on, the corresponding lower
width as illustrated in Figure3. The pulse width is transistor is switched off. If upper switch is ON it is
proportional to the average value of the sinusoidal signal marked as ‘1’ and if the lower switch is ON it is marked

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as ‘0’ [3]. Therefore, the on and off states of the upper
transistors S1, S3 and S5 can be used to determine the
output voltage. The principle of SVM is based on the fact
that there are only eight possible switch combinations for
a three-phase inverter. The basic inverter switch states are
shown in Figure4 [6].
Space vector PWM can be implemented by the following
steps:
Step 1: Determine Vd, Vq, Vref, and angle (α) using
equation (5) to (8).
Step 2: Determine Sector using figure.5
Step 3: Determine time duration T 1, T2, T0 using equation
(9) to (11)
Step 4: Determine the switching time of each switch (S1
to S6) using figure.8
Step 1: Determination of Vd, Vq, Vref, and angle (α):

Vd= Van – Vbn cos 60o – Vcn cos 60o --------- (5)

Vq= 0 + Vbn cos 30o – Vcn cos 30o --------- (6)

Hence Vd = Van – (Vbn/2) – (Vcn/2)

Vq = (√3/2)Vbn - (√3/2)Vcn

Magnitude |Vref| = [(Vd*Vd) + (Vq*Vq)]1/2 --------- (7)

Figure 4 Eight switching states of inverter
Angle (α) = tan-1 (Vd/Vq) --------- (8)
The relationship between the switching variable vector [a,
b, c]t and the line-to-line voltage vector [Vab Vbc Vca]t is Where Van, Vbn and Vcn are the line voltages of input and
given in Table 2 for the eight switching states of inverter Vd , Vq are the corresponding transformed frames.
shown in figure.4
Table 2 Summary of Inverter Switching Vectors
Name A B C VAn VBn VCn
V0 0 0 0 0 0 0
V1 1 0 0 2VDC/3 -VDC/3 -VDC/3
V2 1 1 0 VDC/3 VDC/3 -2VDC/3
V3 0 1 0 -VDC/3 2VDC/3 -VDC/3
V4 0 1 1 -2VDC/3 VDC/3 VDC/3
V5 0 0 1 -VDC/3 -VDC/3 2VDC/3
V6 1 0 1 VDC/3 -2VDC/3 VDC/3
V7 1 1 1 0 0 0
Figure 6 The relationship of abc reference frame and
stationary dq reference frame
The Space Vector is divided into six non-zero active Step 2: Determination of Sector:
vectors separated from each other by an angle of 60 o and
two zero vectors are placed at the origin as shown in
Table 3 Sectors Identification
Figure 5. Vref is obtained by the combination of two
adjacent active vectors and the zero vectors. Angle (θ) Sectors where Vref is placed
o o
0 < θ < 60 Sector 1
o o
60 < θ < 120 Sector 2
o o
120 < θ < 180 Sector 3
o o
180 < θ < 240 Sector 4
o o
240 < θ < 300 Sector 5
o o
300 < θ < 360 Sector 6

Step 3: Determination of time duration T1, T2, T0

The General formula for calculating switching time
duration at any sector

Figure 5 Basic Switching Vectors and Sectors

-----(9)

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Table 4 Switching Time Calculation at Each Sector

----------- (10) Upper Switches (S1, Lower Switches (S4,
Sector
S3, S5) S6, S2)
To = Tz – T1 – T2 --------------- (11)
S1 = T1+T2+T0/2 S4 = T0/2

1 S3 = T2+T0/2 S6 = T1+ T0/2

S5 = T0/2 S2 = T1+T2+T0/2

S1 = T1+T0/2 S4 = T2+T0/2

2 S3 = T1+T2+T0/2 S6 = T0/2

S5 = T0/2 S2 = T1+T2+T0/2
Figure 7 Reference vector as a combination of adjacent
vectors at sector 1 S1 = T0/2 S4 = T1+T2+T0/2

Step 4: Determination of switching time for each 3 S3 = T1+T2+T0/2 S6 = T0/2

switch (S1 to S6)
S5 = T2+T0/2 S2 = T1+ T0/2
Figure.8 shows the switching patterns obtained at each
sector in SVPWM technique based on the switching time S1 = T0/2 S4 = T1+T2+T0/2
calculation for each sector as given in Table 4.
4 S3 = T1+ T0/2 S6 = T2+T0/2

S5 = T1+T2+T0/2 S2 = T0/2

S1 = T2+T0/2 S4 = T1+ T0/2

5 S3 = T0/2 S6 = T1+T2+T0/2

S5 = T1+T2+T0/2 S2 = T0/2

S1 = T1+T2+T0/2 S4 = T0/2

6 S3 = T0/2 S6 = T1+T2+T0/2

S5 = T1+ T0/2 S2 = T2+T0/2

V. PROPOSED METHODOLOGY
The complete set up of open loop speed control
of PMSM drive with Space Vector PWM fed VSI is given
in the form of block diagram as shown in figure.9.

Figure 9 Block Diagram of the Proposed Work

A three phase balanced voltage source is fed as

input voltage. The input voltage in abc frame is converted
to dq frame with the help of Clark’s transformation. The
Vd and Vq coordinates are converted into polar form which
yields magnitude Vref and angle Vang. This Vang serves as
the input for step2 namely sector selection, which
Figure 8 Space Vector PWM switching patterns at each
determines at which sector the inverter needs to be
sector

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operated. Using this input, the switching time for each
sector is calculated and the corresponding gate pulses to
be fed to the power switches are generated as discussed in
section 4. These gate pulses are fed to three leg VSI for
generating the desired output voltage in ABC frame, so as
to drive the PMSM. To overcome the harmonic content in
inverter output, an LC filter is incorporated at the output
side of inverter.
VI. SIMULATION RESULTS
The design of PMSM fed by SPWM inverter and
SVPWM inverter is done to perform simulation analysis
with the gating signal generation, output voltage ,current,
torque and speed response are described in this section.
shown in figure.11. The line to line output voltage in volts
and their corresponding line current which is same as that
of stator current of PMSM in amps of SPWM fed VSI
with LC filter is shown in figure.12 and figure.13
respectively. It is inferred that although the output voltage
and output current of VSI is balanced in all the three
phases, it is found to have harmonic content inspite of
incorporating filter at output side of the inverter. This is
the main drawback observed in SPWM technique.

A. RESULTS AND DISCUSSION OF SPEED CONTROL

OF PMSM USING SPWM

The reference and carrier wave

signals generated for SPWM modulating technique is
shown in figure.10. The reference wave signal is a three
phase pure sinusoidal signal of amplitude of 1 unit. The
carrier wave signal is triangular in nature with amplitude
of 1.18 units. The comparison of reference and carrier
wave signal for simulation time of 30ms is shown in Figure 12 Output Voltage of VSI
figure.10.

Figure 10 Comparison of Reference and Carrier Wave Figure 13 Output Current of VSI
Signal
The output voltage of VSI (shown in figure.12) is
fed as input supply to the stator of Permanent Magnet
Synchronous Motor (PMSM) which is modelled with the
design parameters as given in Table 1. A PMSM system is
modelled as a 4 pole machine operating at 50Hz supply
frequency, whose rated speed is 1500rpm. The motor
speed and torque developed by the machine are shown in
figure.14 and figure.15 respectively. It is inferred that
speed of the machine settles down at 0.25Sec, with initial
perturbations. The output torque developed by the
machine shown in figure.15 is found to have more ripples
in the order of 3Nm.

Figure 11 Gate Pulses generated

The gate pulses generated from each phase of
reference wave and their corresponding inverted gate
pulses which are fed to the 6 power switches of VSI are

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Figure 14 Output Speed of the Machine

Figure 17 Current THD Analysis

B. RESULTS AND DISCUSSION OF SPEED CONTROL
OF PMSM USING SVPWM
The open loop speed control of PMSM drive system
with Space Vector PWM fed inverter as discussed in
section 5 is simulated and performance has been analyzed
and compared with SPWM technique. The Balanced 3
phase sinusoidal voltage of magnitude 200 volts and
frequency of 50Hz is converted into dq0 frame by using
Clark’s transformation .The Vref and Vang obtained through
Figure 15 Output Torque of the machine conversion are shown in figure 18 & 19 respectively.
The THD analysis of the
output line voltage and line current of SPWM fed VSI
operating under a Modulation Index of 0.95 is shown in
Figure.16 and figure.17 respectively. It is inferred that the
THD value for voltage is 32.48% and that of current is
13.05% which is highly unacceptable as per IEEE power
quality standards. Owing to this harmonic content, the
PMSM drive performance is not satisfactory when driven
with this SPWM fed VSI. Hence this is a main drawback
of SPWM. This has necessitated the need to device an
alternative PWM technique for VSI. One such technique
identified is Space Vector PWM, whose performance is
discussed in detail in the subsequent sections.

Figure 18 Reference Voltage

The magnitude of Vref is 200V and their corresponding
angle varies from 3 radians to -3 radians which is
converted into degrees for sector selection.

Figure 19 Angle
Figure 16 Voltage THD Analysis

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Depending upon the

magnitude and angle, the corresponding sector will be
identified which is shown in figure.20. As the VSI has two
level and three leg, it has totally 6 sectors in which it
varies from 1 to 6 as shown in figure.20 After identifying
the sector number, the dwell time is calculated which is
the base for the calculation of switching time. Waveform
of dwell time and switching time is also shown in
figure.21 and figure.22 respectively.

Figure 22 Application Time for the Switches

The gate pulses generated from each phase of reference
wave and their corresponding inverted gate pulses which
are fed to the 6 power switches of VSI are shown in
figure.23.

Figure 20 Sector Identification

Figure 23 Gate Pulses Generated

The line to line output voltage in volts and their
corresponding line current which is same as that of stator
current of PMSM in amps of SVPWM fed VSI with LC
filter is shown in figure.24 and figure.25 respectively. It is
inferred that the output voltage and output current of VSI
is balanced in all the three phases and also found to be
free from harmonic contents. This is the main advantage
of SVPWM.

Figure 21 Dwell Time

This dwell time helps in
the calculation of T1, T2 and T0 which is shown in
Figure.21 for 50ms. This will help in determining the
duration of the operation of switches. The application time
for the switches as shown in figure.22 is calculated
separately which are all act as the reference wave of
amplitude 0.9 units for Space Vector PWM technique.
This wave is in turn compared with the carrier wave
(triangular waveform) of amplitude 1 unit, to generate the
gate pulses.
Figure 24 Output Voltage of VSI

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Figure 25 Output Current of VSI
The output voltage of VSI
(shown in figure.24) is fed as input supply to the stator of
Permanent Magnet Synchronous Motor (PMSM) which is
modelled with the design parameters as given in Table 1.
The motor speed and torque developed by the machine are
shown in figure.26 and figure.27 respectively. It is
inferred that speed of the machine settles down at 0.17Sec,
with minimum oscillations and also at a minimum time
that SPWM. The output torque developed by the machine
shown in figure.27 is found to have no ripples, which
increases the efficiency of the machine.
Figure 26 Output Speed of the Machine
Figure 27 Output Torque of the Machine
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9
The THD analysis of the
output line voltage and line current of SVPWM fed VSI
operating under a Modulation Index of 0.95 is shown in
Figure.28 and figure.29 respectively. It is inferred that
the THD value for voltage is 0.17% and that of current
is 0.06% which is very low when compared to SPWM.
Owing to this harmonic reduction, the PMSM drive
performance is highly satisfactory when driven with
this SVPWM fed VSI. Hence this is a main advantage
of SVPWM. This has led the researchers to move
towards Space Vector PWM, owing to its appreciable
performance.
Figure 28 Voltage THD Analysis
Figure 29 Current THD Analysis
VII. SUMMARY
The results of SPWM and
SVPWM as discussed in the previous sections has led to a
conclusion that SVPWM technique gives a better
performance than SPWM technique as evident from the
results. The harmonic analysis of the output voltage and
the output current of the VSI obtained using both the
Techniques for a modulation index of 0.95 is summarized
in Table 4. The results of SVPWM are found to be highly
promising, where in THD of voltage / current has
decreased many manifolds. Further, the settling time of
speed response is also reduced and ripples in torque have
been minimized to 0Nm. Therefore SVPWM technique
has proved to outperform SPWM technique in PMSM
applications.

IEEE International Conference on Innovations in Green Energy and Healthcare Technologies(ICIGEHT’17)
Table 4 THD Analysis Comparison
MODULATION INDEX = 0.95
PARAMETERS
SPWM SVPWM
VOLTAGE THD 32.48% 0.17%
CURRENT THD 13.05% 0.06%
SETTLING TIME 0.25S 0.17S
TORQUE RIPPLE 3N m 0Nm
VIII. CONCLUSION
This paper has presented a simple
MATLAB/SIMULINK Model to implement SPWM and
SVPWM based 2-level three phase Voltage Source
Inverter to control the speed of PMSM drive system. A
detailed performance analysis of both the PWM
techniques has been discussed. It has been observed that
the performance of SVPWM inverter is more efficient and
better when compared to that of SPWM inverter. Hence, it
is suggested that SVPWM fed VSI is a better choice for
speed control of PMSM drive system in industrial
applications. The present work is limited to the scope of
open loop control strategy in speed control of PMSM. The
future scope will focus on closed loop speed control
strategy under loaded conditions for PMSM with
experimental study.
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