Abstract: There is provided an apparatus for controlling a permanent magnet synchronous motor in a permanent magnet synchronous motor system. The apparatus comprises a disturbance observation circuit unit configured to estimate concentrated disturbance of the permanent magnet synchronous motor using a nonlinear observation gain function; and a sliding mode controller configured to control the permanent magnet synchronous motor by reflecting the estimated concentrated disturbance in a position-current single-loop control in which back-stepping control and sliding mode control are integrated.

Abstract: There is provided a gateway device. The gateway device comprises a communication unit configured to transmit and receive ethernet frames including a plurality of ethernet data, a memory configured to store instructions; and a processor configured to execute the instructions stored in the memory, wherein the instructions, when executed by the processor, cause the processor to check priority information on each ethernet data included in the ethernet frames, and control a transmission order of the first ethernet frame with the highest priority, a transmission order of the second ethernet frame with the priority lower than that of the first ethernet frame among ethernet frames, a transmission cycle of the second ethernet frame, and whether to perform preemption of the second ethernet frame based on the priority information.