[1] [1] ZHANG G, LIU P K, ZHANG B, et al.. Design of trajectory tracking controller for precision positioning table driven by linear motor ［J］. Opt. Precision Eng., 2013, 21(2): 371-379. (in Chinese)

[2] [2] WANG L, WANG L, TANG X J, et al.. Double updating dead-time compensation for digital drive system ［J］.Opt. Precision Eng., 2012, 20(12): 2712-2719. (in Chinese)

[3] [3] TOUNZI A, HENNERON T, MENACH Y L, et al.. 3-D approaches to determine the end winding inductances of a permanent-magnet linear synchronous motor ［J］. IEEE Transactions on Magnetics. 2004, 40(2): 758-761.

[4] [4] CHEN S L, TAN K K, HUANG S, et al.. Modeling and compensation of ripples and friction in permanent-magnet linear motor using a hysteretic relay［J］. IEEE/ASME Transactions on Mechatronics, 2010, 15(4): 586-594.

[5] [5] ZHANG M, YIN W. Research on iterative learning control of PMLSM ［C］. MACE, 2010: 5613-5616.

[6] [6] WANG J, LI D. Application of fuzzy PID control in PMLSM servo drive system ［C］. ICMA, 2015: 6-10.

[7] [7] EL-SOUSY F F M. Intelligent mixed H2/H∞ adaptive tracking control system design using self-organizing recurrent fuzzy-wavelet-neural-network for uncertain two-axis motion control system ［J］.Applied Soft Computer, 2016, 41: 22-50.

[8] [8] GAO W B. Variable Structure Control Theory And Design Method ［M］. Beijing: Science Press, 1996. (in Chinese)

[9] [9] MEI H, WANG Y. Fast convergent sliding mode variable structure control of robot ［J］. Information & Control, 2009, 38(5): 552-557. (in Chinese)

[10] [10] ZHANG H X, FAN J S. A new double power reaching law for sliding mode control ［J］.Control & Decision, 2013, 28(2): 289-293. (in Chinese)

[11] [11] LI H J, CAI Y L. Sliding mode control with double power reaching law ［J］.Control and Decision, 2016, 31(3): 498-502.(in Chinese)

[12] [12] PANAH P G, ATAEI M, MIRZAEIAN B, et al.. A robust adaptive sliding mode control for PMLSM with variable velocity profile over wide range ［J］.Research Journal of Applied Sciences Engineering & Technology, 2015, 10(9): 997-1006.

[13] [13] WEI L S, CHEN Q G, LU H C, et al.. Sliding mode control of PMLSM for high speeding gringding machine ［J］. Advanced Materials Research, 2012, 462: 701-706.

[14] [14] GUO Y J. Application of adaptive backstepping sliding mode control in alternative current servo system of rocket gun ［J］.Acta Armamentarii, 2011, 32(4): 493-497. (in Chinese)

[15] [15] LI P, MA J J, ZHENG ZH Q. Sliding mode control approach based on nonlinear integrator ［J］.Control Theory & Applications, 2011, 28(5): 619-624.(in Chinese)

[16] [16] CHANG X J, LIU L, CUI R X. A nonsigular fast terminal sliding mode controller with varying boundary layer for PMSM ［J］.Journal of Xian Jiaotong University, 2015, 41(6): 54-59. (in Chinese)

[17] [17] CHEN H M, RENN J C, SU J P. Sliding mode control with varying boundary layers for an electro-hydraulic position servo system ［J］. The International Journal of Advanced Manufacturing Technology, 2005, 26(1-2): 117-123.

[18] [18] CHANG X J, PENG B, LIU L, et al.. A novel nonsingular terminal sliding mode observer for sensorless control of permanent magnet synchronous motor ［J］.Journal of XiAn Jiaotong University, 2016, 50(1): 85-91.(in Chinese)

[19] [19] H R, JIANG Z B, KANG N. Sliding mode disturbance observer-based fractional second-order nonsingular terminal sliding mode control for pmsm position regulation system ［J］. Mathematical Problems in Engineering, 2015, 2015: 1-14.

[20] [20] POLYAKOV A, FRIDMAN L. Stability notions and Lyapunov functions for sliding mode control systems［J］. Journal of the Franklin Institute, 2014, 351(4): 1831-1865.

[21] [21] KABZIN＇SKI J. Adaptive servo control with polynomial approximation of stribeck curve ［J］. Przeglad Elektrotechniczny, 2014.

[22] [22] HAN B CH, MA J J, LI H T. Modeling and compensation of nonlinear friction in harmonic driver ［J］.Opt. Precision Eng., 2011, 19(5): 1095-1103.(in Chinese)