Speed Control of PMSM Based on an Optimized ADRC Controller

Table 2

Comparison between Traditional ADRC and Optimized ADRC.

ADRC	Input signal	Overshoot(%)	Adjustment time(s)
Traditional ADRC	Unit step	9.76	0.39
	Sinusoidal	/	0.71
	Small disturbance	17.91	1.89
	Big disturbance	259.34	2.01
	Square wave pulse	/	1.98
Optimized ADRC	Unit step	0	0.24
	Sinusoidal	/	0.54
	Small disturbance	0	0
	Big disturbance	9.54	0.92
	Square wave pulse	/	0.43