Motor controller and method for estimating a motor shaft angle or a motor shaft rotation speed of a motor

A method for estimating a motor shaft angle or a motor shaft rotation speed of a motor, comprising:

• supplying measurements representing a sequence of motor shaft angles of a motor to a state observer;
• and
• performing motor shaft angle or motor shaft rotation speed estimation by
• generating, with the state observer, a time series representing motor shaft angle estimates, motor shaft rotation speed estimates or motor shaft angle estimation errors from the measurements;
• filtering the generated time series by a machine learning model having an autoencoder architecture;
• and
• generating one or more estimates of the motor shaft angle or the motor shaft rotation speed from the filtered time series.

A motor controller, comprising:

• an estimation circuit configured to
• receive measurements representing a sequence of motor shaft angles of a motor;
• based on the measurements, generate a time series representing motor shaft angle estimates, motor shaft rotation speed estimates or motor shaft angle estimation errors;
• filter the generated time series using a machine learning model having an autoencoder architecture;
• generating one or more estimates of the motor shaft angle or the motor shaft rotation speed from the filtered time series;
• and
• provide the one or more estimates of the motor shaft angle or the motor shaft rotation speed to a state observer for use in estimating motor shaft angle estimates, motor shaft rotation speed estimates or motor shaft angle estimation errors.