Since your documentation does not provide the description how to determine the parameters of your proprietary SMO, I had difficulty in making my PMSM working properly in mid to high speed range. Would you please advise a set of SMO parameters (Kslide, Kslf, E0) for my motor? Here is a list of my motor parameters. Thank you very much!
#define MOTOR_Rs 1.025 //Stator phase resistance, Ohm, 2.05 (L-L) / 2
#define MOTOR_Ls 0.00483 //Stator phase inductance, H, 9.66 mH (L-L) / 2
#define MOTOR_bEMF 0.0243 //back EMF, 24.3 V/kRPM converted to V/RPM
#define MOTOR_INERTIA 0.0000169 //Motor inertia, 169 g-cm^2 converted to kg-m^2
#define MOTOR_RATED_RPM 4990.0 //Motor rated speed, RPM
#define MOTOR_POLES 8 //number of poles of motor
#define MOTOR_RATED_VOLTAGE 340.0 //rated DC voltage (V)
#define MOTOR_RATED_CURRENT 4.15 //Continuous current RMS (A)