Prescribed Performance Global Non-Singular Fast Terminal Sliding Mode Control of PMSM Based on Linear Extended State Observer

In manufacturing, the position tracking accuracy and stability of Permanent Magnet Synchronous Motors are often challenged by uncertainties, especially in complex environments. Existing control methods struggle to balance fast response with high-precision tracking. To address this, we propose a Prescribed Performance Global Non-Singular Fast Terminal Sliding Mode Control (PPGNFTSMC) method using a linear extended state observer (LESO). A smooth and bounded prescribed performance function is designed to ensure finite-time convergence while satisfying performance requirements such as overshoot and settling time. Based on this function, the system error is reconstructed to align the system response with predefined specifications. The reconstructed error is then used to design a global non-singular fast terminal sliding mode surface. A LESO is employed for real-time disturbance estimation, and the disturbance estimates, along with the sliding mode surface, are used to derive the control law for the position–speed integrated controller. Experimental results show that the proposed method outperforms the comparison methods in transient response, tracking accuracy, and robustness across various signal types.