Novel Integral Continuous Sliding Mode Control Design for Robust Speed Regulation of Pms Motors

This paper presents a novel integral continuous sliding mode control (ICSMC) strategy designed to enhance the dynamic performance of speed servo systems in permanent magnet synchronous motors (PMSM) while effectively mitigating external disturbances. The proposed controller incorporates an integral sliding surface structure that successfully eliminates steady-state error and maintains robust system stability under varying operating conditions. To address the fundamental trade-off between rapid convergence and chattering suppression inherent in conventional sliding mode controllers, we develop an innovative reaching law featuring a high-slope saturation function that seamlessly replaces the traditional discontinuous sign function. Rigorous stability analysis based on Lyapunov theory demonstrates that the closed-loop system maintains global stability, while mathematical proof confirms finite-time convergence of tracking error to zero. The superiority of the proposed ICSMC methodology over conventional control techniques is validated through comprehensive numerical simulations implemented in MATLAB environment, demonstrating significant improvements in terms of response time, steady-state error elimination, and robustness against external disturbances.