An enhanced switching active disturbance rejection controller for speed control of permanent magnet synchronous motor

In this study, a novel active disturbance rejection controller (ADRC) is proposed to significantly improve the speed control performance of permanent magnet synchronous motor (PMSM). The conventional ADRC, namely linear active disturbance rejection controller (LADRC) and nonlinear active disturbance rejection controller (NLADRC), both them have their own merits and drawbacks. Thus, an enhanced switching active disturbance rejection controller (ESADRC) is developed to counteract the impacts of the speed-loop for the PMSM. The proposed ESADRC comprises several novel components including a novel tracking differentiator (TD), a novel switching extended state observer (SESO), a novel switching state error feedback (SSEF), and a cascaded extended state observer (ESO). The cascaded ESO is responsible for estimating the remaining disturbance after the SESO. Through comparative verification, it is verified that the proposed ESADRC outperforms the traditional ADRCs in terms of performance.