**5. Simulation results**

Simulation results are presented here for a SRM with the parameters, given in Appendix B using MATLAB/Simulink. The block diagram of the closed-loop drive control system, using the proposed RASMC, is shown in **Figure 4**. In the following, the system performance is evaluated despite the variation of load torque, as an external disturbance, and compared with that of CASMC. To this end, the CASMC parameters are selected as *K*<sup>1</sup> ¼ 20, *σ* ¼ 8, and *ρ* ¼ 1. The RASMC parameters are *K* ¼ 10, *γ* ¼ 1 and exponential terms are *δ*<sup>1</sup> ¼ *δ*<sup>2</sup> ¼ 5 and *σ*<sup>1</sup> ¼ *σ*<sup>2</sup> ¼ 1*.* Moreover, the turn-on and turnoff angles are assumed to be constant and equal to 56<sup>∘</sup> and 33<sup>∘</sup> , respectively.
