This paper characterizes the complex dynamics of the permanent-magnet synchronous motor (PMSM) model with a non-smooth-air-gap, extending the work on the smooth case studied elsewhere. The stability, the number of equilibrium points, and the pitchfork and Hopf bifurcations are analyzed by using bifurcation theory and the center manifold theorem. Numerical simulations not only confirm the theoretical analysis results but also show some more new results including the period-doubling bifurcation, cyclic fold bifurcation, single-scroll and double-scroll chaotic attractors, ribbon-chaotic attractor, as well as intermittent chaos that are different from those reported in the literature before. Moreover, analytical expressions of an approximate stability boundary are given, by computing the local quadratic approximation of the two-dimensional stable manifold at an order-2 saddle point. Combining the existing results with the new results reported in this paper, a fairly complete description of the complex dynamics of the PMSM model is now obtained.
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