... Conversion 18( 2): 271– 283 .Utkin, V., Guldner, J. & Shi, J. (1999). Sliding Mode Control Electromechanical System, CRC Press.154 Sliding Mode Control ˙y=t0u( τ)dτ +˙y(0)+ξt (8) The ... (1992). Digital Control Systems, Oxford University Press, New York, USA.Levant, A. (1993). Sliding order and sliding accuracy in sliding mode control, InternationalJournal of Control 58( 6): 1247–1263.Ogata, ... feedback PI control of the field oriented control technique for better performance.Basically, the sliding mode control objectives consist mainly of the following steps:157Cascade Sliding Mode Control...