A Novel Position Speed Integrated Sliding Mode Variable Structure Controller for Position Control of PMSM

Bo Tang, Wenqi Lu*, Bo Yan, Kaiyuan Lu, Jianchao Feng, Liang Guo

*Corresponding author for this work

Research output: Contribution to journalJournal articleResearchpeer-review

12 Citations (Scopus)


Improving the positioning response is one of the key goals for permanent magnet synchronous motor position servo systems. The sliding mode variable structure controller (SMVSC) is an effective method due to the advantages of strong robustness, fast response, and easy practical implementation. However, the existing SMVSCs have difficulties in optimizing the position tracking response speed and chattering performance at the same time. This article proposes an improved position speed integrated SMVSC (ISMVSC) with a new variable exponential reaching law based on position error and a saturation function, and a speed-limiting method using speed error and trajectory planning. The general design principle is given and various tests are carried out to verify the effectiveness of the proposed method. The experimental results show that compared with traditional methods, the ISMVSC can improve the positioning response speed and reduce chattering problems at the same time; it also exhibits a stronger transient speed-limiting ability. All these advantages make the proposed controller a superior method to achieve high-response positioning control of the servo system that performs point-to-point motion.

Original languageEnglish
JournalIEEE Transactions on Industrial Electronics
Issue number12
Pages (from-to)12621-12631
Number of pages11
Publication statusPublished - 1 Dec 2022

Bibliographical note

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© 1982-2012 IEEE.


  • High-response positioning
  • position and speed integration
  • position servo system
  • sliding mode variable structure controller (SMVSC)


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