LAUSR

In this paper, a novel fast terminal sliding mode reaching law (FTSMRL) based sliding mode control (SMC) is proposed to improve the speed dynamic performance of the permanent magnet synchronous motor (PMSM) and drive. The proposed FTSMRL contains two power terms, which can take the leading role in the SMC process, when sliding state is near or far from the selected sliding trajectory. The proposed SMC based FTSMRL can not only suppress the chattering phenomenon effectively, but also improve the reaching velocity of the sliding state variable. In order to further improve the system disturbance rejection ability of the control system, an extended state observer (ESO) is also developed in this work. The proposed observer estimates the disturbances and inputs the signal to a feed-forward compensation controller considering the chattering phenomenon caused by the high switching gain. The proposed method has been fully confirmed by mathematical stability check, numerical analysis and experiments, separately.