1. Perfect Tracking Control of Servo Motor Based on PWM Hold
~new developments of high-speed position control~

2. State equation of plant
PWM hold
[A. Kawamura 1987]
PWM pulse
State equation of plant
Discrete as DT is control input
T: sampling period
E: output voltage

3. with decoupling control
Plant model of SPMSM
　with decoupling control
dq model of SPMSM

4. Perfect Tracking Control
Structure of PTC
Inverse System of Plant
Multirate Feedforward Control
Feedback Control
Realize stable inverse system of plant by multirate control
Nominal plant：perfect tracking on sampling period
Feedback control suppresses disturbance and plant shift

5. Inverter
DSP
(PWM hold)
SPMSM
PTC of SPMSM dq-model Based on PWM Hold

6. Simple Method（sine-triangle PWM） Precise Method（space-vector PWM）
PWM pulse of 3-phase inverter
Simple Method（sine-triangle PWM）
Precise Method（space-vector PWM）

7. Simulation results Conventional 1 ZOH discrete model（2-order model）
Proposed 1
PWM hold discrete model（simple method）
Proposed 2
PWM hold discrete model（precise method）

8. Experiment result Only 10 carrier periods !
(Carrier frequency: 500 Hz)
Conventional 1
ZOH discrete model（2-order model）
Conventional 2
ZOH discrete model（3-order model）
Proposed 1
PWM hold discrete model（simple method）
Proposed 2
PWM hold discrete model（precise method）