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

Table 3

Comparisons of disturbance rejection performances.

Control method	PI	ASMC	ASMC + ESO
Speed fluctuation at loading (r/min)	59	45	38
Speed fluctuation at unloading	97	87	67
Speed adjustment time at loading	0.56	0.44	0.28
Speed adjustment time at unloading	0.71	0.59	0.23
Overshoot in at loading	0.37	0.28	0.19
Overshoot in at unloading	0.81	0.72	0.59
adjustment time at loading	0.7	0.65	0.34
adjustment time at unloading	0.7	0.57	0.49