An Extended State Loop Filter With Position Error Observer for Sensorless IPMSM Drives

Zhuang Xu, Chris Gerada

Research output: Journal PublicationArticlepeer-review

3 Citations (Scopus)


Sensorless drives of interior permanent magnet synchronous motors (IPMSMs) find a broad range of applications due to their inherent benefits. In practical electrified propulsions, the IPMSM drives are usually working in highly utilized conditions where the performance and stability could deteriorate. Without considerable compensation, this vulnerability causes the existing phase-locked loops (PLLs), estimators, or observers to lose the synchronization with the rotor position. To achieve better performance and reduce the estimation error, in a PLL-type framework for sensorless control, a position error observer (PEO) utilizing the current errors as correction terms plays the role of the phase detector. A reduced-order extended state observer (ESO) is presented to form the loop filter with a switched nonsmooth feedback structure. The outstanding property of the PEO and nonsmooth ESO is verified through experiments. The results demonstrate its strong adaptability for model uncertainties and disturbances along with the quick convergence speed and minimal oscillation.

Original languageEnglish
Pages (from-to)12213-12224
Number of pages12
JournalIEEE Transactions on Industrial Electronics
Issue number12
Publication statusPublished - 1 Dec 2022


  • Extended state loop filter
  • permanent magnet synchronous motors (PMSMs)
  • sensorless drives

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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