The motor model are as follows.p = 4; % Number of pole pairs
Rs = 0.1; % Stator resistance per phase [Ohm]
Ls = 1e-4; % Stator self-inductance per phase, Ls [H]
Ms = 1e-5; % Stator mutual inductance, Ms [H]
psim = 0.0175; % Maximum permanent magnet flux linkage [Wb]
Jm = 0.0005; % Rotor inertia [Kg*m^2]
Ts = 5e-6; % Fundamental sample time [s]
Tsc = 1e-4; % Sample time for inner control loop [s]
Vdc = 48; % Maximum DC link voltage [V]The model is preconfigured to have stable closed loop operation with two cascaded PI
controllers, one for the inner DC link voltage loop, and one for the outer motor-speed
loop.Kpw = 0.1; % Proportional gain for speed controller
Kiw = 15; % Integrator gain for speed controller
Kpv = 0.1; % Proportional gain for voltage controller
Kiv = 0.5; % Integrator gain for voltage controller8 PID Autotuning