Full-order sliding mode control of uncertain chaos in a permanent magnet synchronous motor based on a fuzzy extended state observer*
Chen Qianga), Nan Yu-Ronga), Zheng Heng-Huoa), Ren Xue-Meib)
       
Comparison of control performance between C1 and C2. (a) x 1, (b) x 2, (c) x 3.