Finite-Time Convergence ESO-Based Nonsingular Fast Terminal Sliding Mode Control for PMSM with Unknown Parameters and Time-Varying Load

Table 1

The parameters of PMSM.

Parameters	Known/nominal value	Unknown
		Used in simulation model	Identified
Rated power (P/W)	180
Rated voltage (V)	380
Pole-pairs (p)	2
Rated speed (n/(r/min))	1500
Inertia coefficient (J/kg·m^2)	0.0008	0.0009
Viscosity coefficient (B)	0.0025	0.002
Stator resistance (Rs/Ω)		12.4	12.5
Inductance (L/H)		0.18	0.1875
Flux linkage (/Wb)		0.95	0.945