en Electrical Drives Electrical Drives Research Paper Research Paper Torque ripple minimization of switched reluctance motor drives is a major subject based on these drives’ extensive use in the industry. In this paper, by using a well-known cascaded torque control structure and taking the machine physical structure characteristics into account, the proposed energy-based (passivity-based) adaptive sliding algorithm derived from the view point of energy dissipation, control stability and algorithm robustness. First, a nonlinear dynamic model is developed and decomposed into separate slow and fast passive subsystems which are interconnected by negative feedbacks. Then, an outer loop speed control is employed by adaptive sliding controller to determine the appropriate torque command. Finally, to reduce torque ripple in switched reluctance motor a high-performance passivity-based current controller is proposed. It can overcome the inherent nonlinear characteristics of the system and make the whole system robust to uncertainties and bounded disturbances. The performance of the proposed controller algorithm has been demonstrated in simulation, and experimental using a 4KW, four-phase, 8/6 pole SRM DSP-based drive system. Switched Reluctance Motor (SRM),Torque Ripple Minimization,Passivity-Based Control (PBC),Feedback Dissipative Hamiltonian Realization (FDHR), 68 75 http://ijeee.iust.ac.ir/browse.php?a_code=A-10-542-1&slc_lang=en&sid=1 M. M. Namazi Isfahani masoudnamazi@gmail.com 180031947532846002993 180031947532846002993 No Department of Electrical and Computer Engineering A. Rashidi saghaian@cc.iut.ac.ir 180031947532846002994 180031947532846002994 Yes Department of Electrical and Computer Engineering S. M. Saghaiannejad 315.amir@gmail.com 180031947532846002995 180031947532846002995 No Department of Electrical and Computer Engineering