Robust speed and torque estimation in electrical drives by second-order sliding modes

This paper presents the synthesis and practical implementation of a robust digital differentiator that provides the first and second derivative of a sampled smooth signal. The robustness of the proposed digital device, based on second-order slidingmodes (2-SMs), is analyzed with respect to measurement errors. Experimental results on an induction motor (IM) drive show that fast and accurate estimates of speed and torque can be obtained in several operating conditions by double differentiation of the encoder position measurement.