nordertocompensatethenonlinearityandsystemuncertainties,atraditionalslidingmodecontroller(SMC)combinedwithalow-passfilter(alsoknownasamodifiedSMC)isdesignedonthephaseqcurrentmodel.Thelow-passfilterovercomeschatteringeffectsincontrolefforts,andhenceimprovestheperformanceofthecontrolle