---
tags: TI instaspin
---

# PMSM Sensorless FOC

## Sliding mode









## TI & ST SMO

## High frequency injection



$$
i_{n\alpha\beta }=I_{cn}e^{j(-\omega t+2\theta +\frac{\pi}{2})}
$$

$$
\varepsilon = i_{n\alpha }cos(2\hat{\theta } -\omega t)+i_{n\beta }sin(2\hat{\theta } -\omega t)=2I_{cn}sin(\hat{\theta }-\theta)
$$