Underwater high-robustness PMSM control via linear extended state observer and improved exponential sliding mode

Permanent Magnet Synchronous Motor (PMSM) is a strongly coupled nonlinear system. Conventional vector control suffers from large speed overshoot and poor anti-disturbance performance. Based on the PMSM mathematical model, this study compares common sliding mode controllers (SMC), designs a novel sliding mode controller by improving the exponential reaching law (NSMC) with a Linear Extended State Observer (LESO) and verifies its stability via mathematical derivation and experiments. The proposed controller features smaller overshoot, faster speed response and stronger disturbance rejection for PMSM than the conventional one, which validates the conclusion.