Robust nonlinear speed control of PM synchronous motor using boundary layer integral sliding mode control technique

A digital signal processor (DSP)-based robust nonlinear speed control of a permanent magnet synchronous motor (PMSM) is presented. A quasi-linearized and decoupled model including the influence of parameter variations and speed measurement error on the input-output feedback linearization of a PMSM is derived. Based on this model, a boundary layer integral sliding mode controller is designed and compared to a feedback linearization-based controller that uses proportional plus derivative (PD) controller in the outer loop. To show the validity of the proposed control scheme, DSP-based experimental works are carried out and compared with the conventional control scheme.