This paper proposes an optimisation-based controller for speed regulation of permanent magnet synchronous motor (PMSM) with the safety guarantee on both the current and voltage in the presence of multiple disturbances. A comprehensive disturbance observer (DOB) is designed to estimate the multiple disturbances in PMSM system. By integrating the estimation and future behavior of disturbances into the prediction
horizon, an offset-free predictive control law is obtained by solving a constrained optimization problem. Analysis in frequency domain and experimental studies both show that the proposed control approach achieves higher tracking performance with better disturbance rejection.

Permanent magnet synchronous motor (PMSM), speed regulation, model predictive control (MPC), multiple disturbances, disturbance observer (DOB).