  This paper presents a nonlinear control algorithm for speed control of a
permanent magnet motor. The idea relies on a feedback linearization technique
which also ensures adherence to current and voltage bounds. These bounds arise
from practical limitations of the power source. The feedback linearization law
is computed using a convex optimization routine to minimize response time as
well. The aid of convex optimization leads to computational efficiency.
Moreover, the mathematical tractability of the approach also aids analysis of
the system performance under model uncertainty and feedback measurement noise.
Simulations and computations corroborate the proposed idea.
