Integrated design for PMSM servo systems based on sliding-mode control

In order to implement the speed control and improve the robustness of permanent magnet synchronous motor (PMSM) servo systems associated with the sliding-mode control (SMC), a compact integrated SMC controller designed for position servo systems is proposed in this paper. The merits of the SMC approach and PID control are combined to design this novel integrated controller. Some integral and feedforward compensatory strategies are also applied to eliminate chattering induced by traditional variable structure control. Both simulations and experimental results demonstrate the validity of the new method and the feasibility of the control strategies.