It is well-known that there is a trade-off between robustness to disturbances and measurement noise sensitivity in the active disturbance rejection control (ADRC) framework based on extended state observer (ESO). To this end, this article proposes a novel variable structure ADRC (VSADRC) for permanent magnet synchronous motor (PMSM) speed control to enhance the disturbance rejection and the noise suppression simultaneously. In this technology, a variable structure ESO (VSESO) with two-stage interconnected observer is proposed to avoid directly employing noise-contaminated signal, in which the extended disturbance differential is appended to achieve higher-level disturbance estimation. By doing this, at low frequencies, the magnitude curve slope is 40 dB/dec for the VSESO and 20 dB/dec for ESO, while at high frequencies, it is −40 dB/dec for the VSESO and −20 dB/dec for ESO. Furthermore, the stability and output characteristics of the proposed strategy are comprehensively investigated. It is revealed that the superiority of the studied scheme in disturbance rejection and noise suppression. Received 9 December 2023; revised 24 March 2024, 30 May 2024, and 6 August 2024; accepted 15 September 2024. Date of publication 22 October 2024; date of current version 3 April 2025. This work was supported in part by the National Nature Science Foundation of China under Grant 12122304, Grant 12473083, and Grant 12303085, in part by Jilin Province Key R&D Plan Project under Grant 20220203036SF, in part by Jilin Province Science and Technology Innovation Platform Project under Grant 20230505007ZP, in part by Jilin Province Science and Technology Development Project under Grant 20240302044GX and Grant 20230203113SF, and in part by the Youth Innovation Promotion Association CAS under Grant Y2023060. (Corresponding author: Yongting Deng.) Haiyang Cao, Xiufeng Liu, and Jianli Wang are with Changchun Institute of Optics, Fine Mechanics, and Physics, Chinese Academy of Sciences, Changchun 130033, China, and also with the University of Chinese Academy of Sciences, Beijing 100049, China (e-mail: caohaiyang20@mails.ucas.ac.cn; liuxiufeng20@mails.ucas. ac.cn; wangjianli@ciomp.ac.cn). Yongting Deng is with Changchun Institute of Optics, Fine Mechanics, and Physics, Chinese Academy of Sciences, Changchun 130033, China (e-mail: dengyongting@ciomp.ac.cn). Yuefei Zuo is with the College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China (e-mail: yuefei.zuo@ieee.org). Christopher H. T. Lee is with the School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798 (e-mail: chtlee@ntu.edu.sg). Digital Object Identiļ¬er 10.1109/TIE.2024.3468613 Finally, the ex perimental results verify the feasibility and effectiveness of the proposed VSADRC.
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