The unified PCHD modeling with inverter is established for the high performance of the speed control system
of SPMSM. The passive controller of the SPMSM drive system is designed based on the interconnection and damping
assignment of the energy-shaping method and port-controlled Hamiltonian systems with the dissipation(PCHD) theory. The
speed regulator is designed by using the adaptive sliding mode method with extended state observer(ESO) in order to get
desired ?? axis current and estimated speed, and the nonlinear disturbance caused by the inverter is compensated by using the
extended state observer. The simulation results show that the proposed method realizes the veracity of speed estimation, so
that the system has satisfactory dynamic and static performance.