Abstract: In order to realize the speed estimation and speed regulation of the permanent magnet synchronous

motor（PMSM）controller，a new type of fractional-order model reference adaptive speed observer was designed.

Compared with integer-order observers，this strategy enhanced the adjustable degrees of freedom of the controller and improved the accuracy of the observer. Using the Popov superstability theory to ensure the stability of the observer. In the current loop，a new type of PD iterative learning control（PD-ILC）with additional auxiliary feedback items was designed，combin with Lebesgue-p norm to analyze the system error，and the system convergence can be improved by reasonable configuration of the gain. Finally，the speed with speed sensorless control was realized. Simulations and experiments show that this strategy can achieve accurate tracking of the desired speed，reduce torque ripple，and has good dynamic and static performance.

      Key words: permanent magnet synchronous motor（PMSM）；model reference adaptive；speed sensorless；

iterative learning control；fractional order calculus