Robust second order sliding mode control for a permanent magnet synchronous motor

This paper deals with the robust control problem of a permanent magnet (PM) synchronous motor subjected to parameters uncertainties and load disturbance. The mathematical model of the motor is expressed in the (d, q) frame. The control strategy is based on a multi-input multi-output (MIMO) second order sliding mode approach. Under an assumption on the choice of controller gains, it is proved that the control law converges in spite of the parameters uncertainties and the outputs coupling. Implementation results on an experimental set-up are given in the framework of an industrial benchmark.