Output-Feedback Sliding Mode Control for Permanent Magnet Synchronous Motor Servo System Subject to Unmatched Disturbances

Figure 6

Response curve of the proposed output-feedback SMC and traditional SMC in the presence sinusoidal load torque disturbance (Case 3): (a) angular velocity ; (b) -axis current ; (c) control input .

(a)

(b)

(c)