Real-Time HIL Simulation of Nonlinear Generalized Model Predictive-Based High-Order SMC for Permanent Magnet Synchronous Machine Drive

Figure 8

The speed of lead torque 1 Nm at tϵ [2 7] s and at tϵ [5 7] s. (a) +50% of Rs, (b) +20% of the flux, and (c) +5% of the coefficient of the viscous friction.

(a)

(b)

(c)