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To solve this problem, an adaptive fault-tolerant control scheme based on characteristic modeling and extended state observer is proposed. First, an adaptive sliding mode observer is designed as fault detection part and offers motor information for controller. Second, to simplify complex dynamic model, this servo system is described by a second-order difference equation. This model integrates uncertainties into three time\u2013varying characteristic parameters to reflect system status. Third, a discrete-time extended state observer is applied to restrain system error caused by actuator failure. Then, a fault-tolerant controller is designed based on characteristic model, and its stability is guaranteed in the sense of Lyapunov stability theorem. These four parts make up the adaptive control scheme and its effectiveness in system control, and fault tolerant is evaluated by both simulation and experiment results. <\/jats:p>","DOI":"10.1177\/0959651820951745","type":"journal-article","created":{"date-parts":[[2020,9,10]],"date-time":"2020-09-10T07:36:26Z","timestamp":1599723386000},"page":"680-691","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":2,"title":["Characteristic model\u2013based adaptive fault-tolerant control for four-PMSM synchronization system"],"prefix":"10.1177","volume":"235","author":[{"given":"Yang","family":"Gao","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9412-5696","authenticated-orcid":false,"given":"Yifei","family":"Wu","sequence":"additional","affiliation":[]},{"given":"Xiang","family":"Wang","sequence":"additional","affiliation":[]},{"given":"Qingwei","family":"Chen","sequence":"additional","affiliation":[{"name":"School of Automation, Nanjing University of Science & Technology, Nanjing, China"}]}],"member":"179","published-online":{"date-parts":[[2020,9,10]]},"reference":[{"volume-title":"30th annual conference of IEEE industrial electronics society, IECON","author":"Perez-Pinal FJ","key":"bibr1-0959651820951745"},{"issue":"1","key":"bibr2-0959651820951745","first-page":"839","volume":"7","author":"Haiyan HU","year":"2011","journal-title":"Micromotors"},{"key":"bibr3-0959651820951745","doi-asserted-by":"publisher","DOI":"10.1177\/0959651817696434"},{"key":"bibr4-0959651820951745","doi-asserted-by":"publisher","DOI":"10.1177\/0959651818782847"},{"first-page":"2951","volume-title":"European control conference (ECC)","author":"Rotondo D","key":"bibr5-0959651820951745"},{"key":"bibr6-0959651820951745","doi-asserted-by":"publisher","DOI":"10.1177\/0959651817692471"},{"issue":"1","key":"bibr7-0959651820951745","first-page":"27","volume":"31","author":"Wei C","year":"2014","journal-title":"IET Control Theory Appl"},{"first-page":"576","volume-title":"2015 Intl Aegean conference on electrical machines & power electronics (ACEMP), 2015 Intl conference on optimization of electrical & electronic equipment (OPTIM) & 2015 Intl symposium on advanced electromechanical motion systems (ELECTROMOTION), Side","author":"Mekki H","key":"bibr8-0959651820951745"},{"key":"bibr9-0959651820951745","doi-asserted-by":"publisher","DOI":"10.1109\/TCST.2006.883191"},{"key":"bibr10-0959651820951745","doi-asserted-by":"publisher","DOI":"10.1016\/S0967-0661(02)00032-1"},{"key":"bibr11-0959651820951745","doi-asserted-by":"publisher","DOI":"10.1109\/37.823226"},{"key":"bibr12-0959651820951745","doi-asserted-by":"crossref","first-page":"776","DOI":"10.1109\/IROS.1994.407550","volume-title":"Proceedings of IEEE\/RSJ international conference on intelligent robots and systems (IROS'94)","volume":"2","author":"Parker LE"},{"key":"bibr13-0959651820951745","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2013.2273477"},{"key":"bibr14-0959651820951745","first-page":"821","volume":"37","author":"Patton RJ","year":"1989","journal-title":"Ch Diagnos Syst Optimal Sens"},{"key":"bibr15-0959651820951745","doi-asserted-by":"publisher","DOI":"10.1016\/S1474-6670(17)48006-2"},{"key":"bibr16-0959651820951745","doi-asserted-by":"publisher","DOI":"10.1016\/S1474-6670(17)42444-X"},{"first-page":"100","volume-title":"International workshop on variable structure systems","author":"Hamayun MT","key":"bibr17-0959651820951745"},{"first-page":"1278","volume-title":"18th Mediterranean conference on control and automation, MED'10","author":"Ichalal D","key":"bibr18-0959651820951745"},{"key":"bibr19-0959651820951745","doi-asserted-by":"publisher","DOI":"10.1049\/iet-cta:20060389"},{"issue":"4","key":"bibr20-0959651820951745","first-page":"449","volume":"25","author":"Li W","year":"2009","journal-title":"Intell Comput Syst"},{"key":"bibr21-0959651820951745","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCC.2006.887004"},{"volume-title":"Characteristic model-based intelligent adaptive control","year":"2009","author":"Wu H","key":"bibr22-0959651820951745"},{"key":"bibr23-0959651820951745","doi-asserted-by":"publisher","DOI":"10.1177\/0959651817696434"},{"key":"bibr24-0959651820951745","doi-asserted-by":"publisher","DOI":"10.1080\/21642583.2014.886974"},{"first-page":"115","volume-title":"4th international conference on power engineering, energy and electrical drives","author":"Attou A","key":"bibr25-0959651820951745"},{"first-page":"3171","volume-title":"IECON 2013\u201439th annual conference of the IEEE industrial electronics society","author":"Lascu C","key":"bibr26-0959651820951745"},{"key":"bibr27-0959651820951745","unstructured":"Wu YF. 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