Robust-Adaptive terminal Limited time Sliding Mode Control for Brushless DC Motors in the presence of external distubances and modeling Uncertainties with unknowk upper bound

Brushless direct current motors have been considered by many researchers due to their many advantages over other direct current motors. The upper band is unknown and aims to converge in a limited time. For this purpose, by rewriting the motor model in the presence of modeling uncertainties and limited external perturbations, the terminal slip mode control law is designed to stabilize the system and converge the output speed and motor flow to the desired values ​​in a finite time, using the development theorem. In this control law, the high bandwidth of total uncertainties and external disturbances is estimated online using an adaptive law. Finally, while calculating the system convergence finite time, an idea to reduce the umbrella in using the terminal slip mode control is presented. The results of the numerical simulations performed show the accuracy of the designed controllers.