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A novel sliding-mode-based extended state observer (SMESO) is proposed to improve the disturbance rejection ability and enhance the dynamic performance of permanent magnet synchronous motor drive systems. First, an extended state observer based on the fast terminal sliding-mode control (FTSMC) method is developed for better comparison, which can improve the robustness against load disturbances, finite time convergence, and get effective reduction of the chattering phenomenon. The SMESO-based FTSMC is then developed by using the SMESO to estimate the system total disturbance, and input the signal to a feed-forward compensation controller to further improve the system dynamic performance. The closed-loop stability analysis is conducted by using the Lyapunov stability function. The superior effectiveness of the proposed method is confirmed by comprehensive simulation and experiments.
Xu et al. (Mon,) studied this question.