Permanent magnet synchronous motor (PMSM) has been widely used in position control applications. Its performance is not satisfactory due to internal uncertainties and external load disturbances. To enhance the control performance of PMSM systems, a new method that has fast response and good robustness is proposed in this study. First, a modified integral terminal sliding mode controller is developed, which has a fast-sliding surface and a continuous reaching law. Then, an extended state observer is applied to measure the internal and external disturbances. Therefore, the disturbances can be compensated for in a feedforward manner. Compared with other sliding mode methods, the proposed method has faster response and better robustness against system disturbances. In addition, the position tracking error can converge to zero in a finite time. Simulation and experimental results reveal that the proposed control method has fast response and good robustness, and enables high-precision control.

永磁同步电动机（PMSM）已广泛用于位置控制应用。由于内部不确定性和外部负载干扰，其性能不能令人满意。为了提高永磁同步电机系统的控制性能，提出了一种具有快速响应和良好鲁棒性的新方法。首先，开发了一种改进的一体式终端滑模控制器，该控制器具有快速滑动的表面和连续的到达定律。然后，使用扩展状态观察器来测量内部和外部干扰。因此，可以以前馈方式补偿干扰。与其他滑模方法相比，该方法具有更快的响应速度和更好的鲁棒性来抵抗系统干扰。另外，位置跟踪误差可以在有限时间内收敛为零。