Extended State Observer Based Adaptive Integral Sliding Mode Control for Two Inertia System

This paper proposes an extended state observer based adaptive integral sliding mode control method for the two inertia system. Two extended state observers are designed to observe all the states needed for the control. The integral sliding mode controller is responsible for the command tracking and the stability of the motor control loop while the load speed feedback is added to eliminate the load vibration. To improve the dynamic performance, the reference load angle signal and the estimated load torque are both put after a filter whose time constant is T. The simulation verifies the validity and the effectiveness of the control method compared with the traditional PI dual-loop control.