Hybrid control of fractional order and sliding-mode variable structure in permanent magnet synchronous motor

For the speed loop of a permanent magnet synchronous motor (PMSM), fractional calculus and the sliding-mode variable structure control theory were employed to design the hybrid controller which integrates a fractional order PIλDμ controller with a sliding-mode variable structure controller. The fractional order PIλDμ and sliding-mode variable structure control are effectively combined by using the variable weighted factor α. The hybrid controller not only overcomes the high-frequency quiver near the origin of the sliding plane but also broadens the scope of adjustment of conventional PID controllers, leading to higher robustness, anti-jamming capability, good rapidity and stability of PMSM. The results of this study may be beneficial to the improvement of complex cross-control methods in motor control systems.