Abstract：Permanent magnet synchronous linear motor（PMSLM）suffers from load disturbances，frictional

forces between the guide rail and the rotor，tooth slot effects，and positioning force disturbances caused by end

effects during operation. To address these issues，a kind of PMSLM control strategy was proposed for continuous

control set model predictive control（CCS-MPC）and speed loop sliding mode control based on an incremental

model in the current loop. Firstly，a mathematical model of the PMSLM two-phase rotating coordinate system was

established. Then，parameter optimization design was carried out on the CCS-MPC control strategy，and the

stability of the system was analyzed through Lyapunov，thereby improving the dynamic response ability of the

system. Next，a sliding mode control strategy that introduces an extended sliding mode disturbance observer was

adopted to improve the transient and steady-state performance of the control system. Finally，the effectiveness of

the proposed scheme was verified through experiments. Compared with vector control，this method improved the

dynamic response capability of the system while ensuring fast convergence and tracking accuracy，and had strong

robustness.

      Key words：incremental model；continuous control set model predictive control（CCS-MPC）；extended

sliding mode disturbance observer；sliding mode control