Speed Control of PMSM Based on an Optimized ADRC Controller

Table 1

Parameters of the ADRC.

Component of ADRC	Parameter name	Symbol	Numerical value
TD	Velocity factor	r0	10
	Simulation step	h0	0.02
ESO	Nonlinear factors	α1	0.5
	Nonlinear factors	α2	0.25
	Nonlinear factors	α3	0.125
	Liner interval width	δ	0.01
	Gain	β11	60
	Gain	β12	240
	Gain	β13	889
	Compensation factor	b0	2.485
NLSEF	Gain	β21	5
	Gain	β22	25
	Gain	β23	75
	Filter factor	δ1	1