**7. Conclusion**

Two nonlinear adaptive sliding mode control algorithms are developed for speed control of SRM in the application of EVs, especially in urban areas that the speed is low and the driving torque is highly fluctuated. This condition is emulated by applying a Gaussian noise to perturb the load torque. First, a conventional adaptive sliding mode control is designed to yield a chattering-free control algorithm. However, linearized SRM model is used, and only mechanical uncertainty of SRM dynamic model is considered.

To implement a high-performance control algorithm for removing these drawbacks, a robust adaptive sliding mode control, namely, RASMC, is proposed. An augmented time-varying uncertainty is defined taking into account the SRM full nonlinear dynamic model and the system uncertainties as well as time-varying load perturbation.

The upper bound of defined augmented uncertainty is not required to be known to make the control gain small enough in order to decrease the chattering and efforts of the controller. Moreover, the exponential terms in sliding function are used to prevent chattering in the control signal. The proposed controller is capable of achieving torque ripple minimization with reduced smooth control effort. The simulation and experimental results also confirm the robustness properties against model uncertainties and time-varying load torque disturbances with significant improvement in speed control loop transient response.

*Chattering-Free Robust Adaptive Sliding Mode Speed Control for Switched Reluctance Motor DOI: http://dx.doi.org/10.5772/intechopen.91161*
