Higher-Order Sliding Mode Observer for Speed and Position Estimation in PMSM

Figure 8

With proposed HOSM method under load: (a) Estimated currents. (b) Estimation current errors. (c) Estimated back EMFs. (d) Estimated speed. (e) Estimated rotor position. (f) Rotor position error.

(a)

(b)

(c)

(d)

(e)

(f)