Fault Tolerant Control of PMSM based on Improved Exponential ESO

In this work, a Fault-Tolerant Control (FTC) design is based on a novel reaching law sliding mode control (SMC) with an improved exponential extended state observer (ESO) for a 3-phase Permanent Magnet Synchronous Motor (PMSM) is proposed. Moreover, a direct field-oriented control based on ESO with a novel reaching law SMC is designed to achieve robust performance against parameter variations and external disturbances. The main goal of using an improved exponential ESO is to detect and reconstruct disturbances and faults. Furthermore, the stability of these observers and controllers is proved by using the Lyapunov stability theory.