Fig. 1. Block diagram of generalized proportional integral observer

Fig. 2. Bode plots of observation noise and input disturbance in frequency domain

Fig. 3. Pole distribution

Fig. 4. Block diagram of composite drive structure for permanent magnet synchronous motor

Fig. 5. Speed response curve at motor starting

Fig. 6. Speed response curves during motor loading and unloading

Fig. 7. Disturbance maps for two types of observers tracking sinusoidal signal

Fig. 8. Experimental hardware platform of permanent magnet synchronous motor

Fig. 9. Speed response curve at motor starting

Fig. 10. Speed response curves during motor loading and unloading

Fig. 11. Current fluctuation curves of two control methods with sudden load

Fig. 12. Experimental reslut of generalized extended state observer

Fig. 13. Steady state speed response at rated speed of 100 r/min

Fig. 14. Harmonic amplitude of steady-state speed of PMSM

Fig. 15. Comparison of sinusoidal guidance signal errors in position loop tracking