Nonsingular Fast Terminal Sliding‐Mode Controller in Delta Operator Framework With Speed Sensor for PMSM Drives

ABSTRACT To address poor tracking performance and disturbance rejection in permanent magnet synchronous motor (PMSM) drives, this study utilizes the advantages of Delta operator sampling to develop a novel nonsingular fast terminal sliding‐mode controller. Delta operator sampled system is a bridge that connects continuous‐time system and discrete‐time system. As the sampling frequency increases, the discrete‐time system converges toward its corresponding continuous‐time system. First, the dynamic model of PMSM speed drive system in Delta operator framework is established. Next, two sliding‐mode controllers based on Delta operator exponential reaching law are designed, one is the sliding‐mode controller utilizing linear sliding‐mode plane, and the other is the nonsingular fast terminal sliding‐mode controller. Subsequently, the dynamic characteristic analyses are detailed conducted for the proposed controllers. Finally, simulation and experiment results indicate the effectiveness of the proposed sliding‐mode controllers in Delta operator framework.