There exist the uncertainties and the inequality constraints in permanent magnet synchronous motor (PMSM) system. In order to meet the safety control requirements in industrial applications, the state transformation is used to meet the inequality constraints for limiting the outputs within desired bounds. Then, fuzzy set theory, which is different from fuzzy logic, is used to describe uncertainty, and the fuzzy PMSM dynamical model is established. Based on that, a robust control with high-order term is proposed to compensate for the time-varying uncertainty. Furthermore, for improving the system performance and decreasing the control cost, the Stackelberg game is introduced into the optimization scheme design, in which the leader plays a more important role than follower. These characteristic corresponds to the influence of the two tunable control parameters on the system. Thus, the optimal parameters are obtained by the rules of Stackelberg game. Finally, experimental results show the effectiveness of the above theories.
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