Speed Adaptive Sliding Mode Control with an Extended State Observer for Permanent Magnet Synchronous Motor

Table 2

Comparisons of disturbance rejection performance.

Control method	PI	ASMC	ASMC + ESO
Speed fluctuation at loading (r/min)	56	41	29
Speed fluctuation at unloading	56	41	21
Speed adjustment time at loading	0.02	0.01	0.003
Speed adjustment time at unloading	0.02	0.01	0.002
Overshoot in at loading	0.245	0.135	0.07
Overshoot in at unloading	0.23	0.14	0.07
adjustment time at loading	0.007	0.007	0.006
adjustment time at unloading	0.01	0.008	0.007