Adaptive Finite-Time Disturbance Observer Based Sliding Mode Control for Dual-Motor Driving System

Table 2

Controller and observer parameters.

Parameter	k 1	k 2	k s1	k s2
Value	20	15.5	10	9
Parameter	α	αs	ψ	ε
Value	4	2.5	1.5	15
Parameter	λ	kp	ki	kd
Value	12	20	8	4