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A hybrid sliding mode observer thatcombines high gain feedback and a high-order sliding modeterm is developed to identify the time-varying disturbance fora permanent-magnet synchronous motor (PMSM). Based on themeasurable current and the position, the unknown disturbancecan be identified from the sliding mode term without digitalfilter effect. It is then used to enhance the robustness of thespeed control dynamics. For ease of implementation in realapplications, such as DSP and FPGA, the proposed observeris properly designed to avoid complex mathematical operators. Simulation results are given to illustrate the performance of the proposed observer.

Unknown Disturbance Estimation for a PMSM with a Hybrid Sliding Mode Observer