An Adaptive Nonlinear Extended State Observer for the Sensorless Speed Control of a PMSM

Figure 15

Operating waveforms of rotor position and estimate error when speed is 500 r/min and the load torque is 1 Nm. (a) Actual and estimated rotor position obtained by the proposed ANLESO. (b) Actual and estimated rotor position obtained by the conventional SMO. (c) Estimated error obtained by the proposed ANLESO. (d) Estimated error obtained by the conventional SMO.

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