Sliding Mode Disturbance Observer-Based Fractional Second-Order Nonsingular Terminal Sliding Mode Control for PMSM Position Regulation System

Figure 3

Control performance of ITSMC and I2NTSMC for the nominal system. (a) Position tracking performance, (b) tracking errors, (c) sliding surfaces, (d) control inputs, and (e) current .

(a)

(b)

(c)

(d)

(e)