Table 1: Simulation and experimentation parameters.

Parameter Value

: input voltage 40 V
: internal resistance of the source and MOSFET 0.84 
: diode forward voltage 1.1 V
: inductance 2.473 mH
: internal resistance of the inductor1.695 
: capacitance 46.27  F
: armature resistance 2.7289 
: armature inductance 1.17 mH
: viscous friction coefficient 0.000138 N·m/rad/s
: moment of inertia 0.000115 kg·m2
: motor torque constant 0.0663 N·m/A
: voltage constant 0.0663 V/rad/s
: friction torque 0.0284 N·m
: load torque variable N·m
: reference speed 200 and 300 rad/s
: switching frequency 4 kHz
: sampling frequency 4 kHz
1  : unit time delay 250  s
: motor speed 28 bits resolution
: motor current 12 bits resolution
: duty cycle 10 bits resolution
Zero-order hold: fixed step discrete time 250  s
: unity matrix of dimension 3
: unity matrix of dimension 7
: updating gain
: updating gain
: user-defined constant 5
and : user-defined gains 1
and : user-defined gains 2.5
: initial control action defined by the user 30 V