A Sliding Mode Control with Nonlinear Fractional Order PID Sliding Surface for the Speed Operation of Surface-Mounted PMSM Drives Based on an Extended State Observer

Table 2

Parameters of the overshoot amount and convergence time under three control strategies for an external load disturbance.

	NSOESO-TSMC			NSOESO-SMC-FOPID			NSOESO-SMC-NFOPID
	Speed convergence time (s)	Speed overshoot amount (%)	Torque setting time (s)	Speed convergence time (s)	Speed overshoot amount (%)	Torque setting time (s)	Speed convergence time (s)	Speed overshoot amount (%)	Torque setting time (s)
Load changes from to	1.035	60.8	0.0282	0.128	6.5	0.0051	0.035	3.4	0.0002