DOI: 10.38088/jise.1868648 ISSN: 2602-4217

A Comparative Study of Error-Dependent and Error-Independent Reaching-Law Sliding Mode for PMSM Speed Regulation

Güven Balta
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The use of SMC in the speed control of PMSM has attracted considerable attention in the literature due to its strong robustness against parameter uncertainties and external disturbances. However, the design of the reaching law in SMC remains a critical challenge, mainly because of the chattering phenomenon. Numerous configurations have been proposed, and one of the recently proposed approaches involves defining the error term within the reaching law structure instead of the sliding surface. On the other hand, the approach of integrating the error term directly into the reaching law rather than into the sliding surface has not been sufficiently investigated in terms of its specific impact on control performance. This study provides an in-depth investigation to fill this gap by comparing different reaching law structures—with and without error term integration—on a PMSM drive. A series of comprehensive tests, including steady-state, load torque disturbances, reference speed variations, and a parametric variation are conducted to compare error-based reaching-law structures with sliding-surface-based designs. The results show that defining the reaching law in terms of the sliding surface or the error term leads to distinct effects on the performance characteristics of the control system. These findings serve as a valuable reference for the development of high-performance reaching-law schemes for PMSM and various nonlinear systems, in terms of design considerations for the use of the error term.

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