clear;
% PMSM motor parameters
V=8;
L = (V+30)/1000;
R = (5+V/10);
Jm = 0.0002*V;
np = 5;
lambda_m = 0.1+0.02*V;
B=0;
%Initial condations
ia0 = 0;
ib0 = 0;
omega0=0;
theta0=0;
%currents PI controller parameters
Kpi = 70;
Kii = Kpi*R/L;
%speed PI controller parameters
h=5;
T = L/Kpi;
tau = h*T;
Kpw = (h+1)/(2*h^2*T^2)*tau*Jm/np/lambda_m;
Kiw = Kpw/tau;
gamma = 0.1;
alpha = 300;
xiPLL = 0.0875;
w0PLL = 500*2*pi;
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