In order to prove the speed regulation for permanent magnet motor systems, a control method is proposed to reject the disturbance by cogging torque, which arises from the interaction of the rotor magnets with the steel teeth on the stator. Toward this aim, we present a state observer with an internal model which has harmonics of sinusoids, and it follows from the proposed observer that the information of the cogging disturbance is obtained. It shows that the disturbance is efficiently compensated by a suitable additional control input based on the estimated information. Simulation and experimental results with an actual permanent magnet motor verify the effectiveness of the proposed observer-based algorithm.
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