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This paper proposes a sensorless control method to improve the performance of an internal permanent magnet synchronous motor

(IPMSM) control by using a full-order flux observer in a wide speed range. The conventional sensorless control method uses a

constant gain for high performance at low-speed region. However, this method has drawbacks such as an increased angle error and

current ripple in the high-speed region due to the fixed gain value. In order to overcome this problem, the gain of the full-order flux

observer is changed by considering the angle error in the whole speed range. The proposed method minimizes the angle error for

each region of the speed range by applying a relevant gain value, which improves the current ripple reduction and motor noise

cancellation. The validity of proposed sensorless control method is verified by a simulation and an experiment.