Sliding Mode Control for Bearingless Induction Motor Based on a Novel Load Torque Observer

Figure 8

The experimental waveforms underload mutation: (a) the radial displacement of rotor; (b) the identification results of rotational inertia under load mutation; (c) the waveforms of torque; (d) the responses of speed and current under the conventional SMC; and (e) the responses of speed and current under the proposed method.

(a)

(b)

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(e)