# An adaptive PID-type sliding mode learning compensation of torque ripple in PMSM position servo systems towards energy efficiency

> Research article (ISA Transactions, 2020) · cited 46× · AI/ML

**Wikidata**: [openalex:W3093014628](https://www.wikidata.org/wiki/openalex:W3093014628)  
**Source**: https://4ort.xyz/entity/an-adaptive-pid-type-sliding-mode-learning-compensation-of-torque-ripple-in-pmsm-position-servo-systems-towards-energy-e