Integral terminal sliding mode control for Permanent Magnet Synchronous Motor position servo system

This paper presents the position servo problem for Permanent Magnet Synchronous Motor (PMSM) servo system using an integral terminal sliding mode control method. The PMSM position servo system is firstly transformed into two linear subsystems by using the feedback linearization technique. The q-axis integral terminal sliding mode controller and d-axis finite-time controller are designed respectively for the two subsystems. Then, the proof of stability is given for the PMSM servo system. Compared with the corresponding control method of asymptotical stability, the controller based on the integral terminal sliding mode control can make the output of system track the desired position reference signal in finite-time and obtain a better dynamic response and anti-disturbance performance. The simulation results prove the effectiveness of the control scheme.