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In this paper, in order to optimize the speed control performance of the tubular permanent magnet linear synchronous motor (TPMLSM), a nonlinear speed control strategy based on sliding-mode control (SMC) and disturbance compensation technology is proposed. Firstly, an improved sliding-mode reaching law (ISMRL) is proposed by introduc-ing terminal attractor on the basis of exponential reaching rate. The ISMRL can not only improve the reaching speed, but also effectively suppress the inherent chattering of the system. Based on this ISMRL, the sliding-mode speed controller of TPMLSM is designed. Then, an extended sliding-mode distur-bance observer (ESMDO) is proposed to estimate the lumped disturbance and provide a feedforward compensation term for speed controller. Finally, simulation and experimental results indicate the availability of the proposed approach.

tubular permanent magnet linear synchronous motor， sliding-mode control， disturbance observer， speed control