A redesigned DCAL controller without velocity measurements: theory and experimentation

Adaptive output-feedback control of induction motors

“…The form of (30) and the subsequent stability analysis, motivates us to design the desired torque trajectory as follows (Burg et al 1994 :…”

“…We utilize a dynamic ® lter to transform the mechanical subsystem dyanmics into an equivalent ® rst-order system (Burg et al 1994. The desired torque trajectory can then be designed in terms of desired rotor-velocityrelated signals and the ® lter output.…”

“…The control design proceeds with the formulation of a desired torque signal to achieve rotor velocity tracking and to compensate for parametric uncertainty associated with the mechanical subsystem. A dynamic ® ltering technique similar to that used by Burg et al (1994Burg et al ( , 1996 is used to design the desired torque signal and, hence, the desired torque signal and the desired stator current trajectory do not depend on rotor velocity. (As pointed out by Ortega et al (1996), this independence of rotor velocity in the desired stator current trajectory signal is important because it is this feature that allows the voltage control input to be designed independent of the rotor acceleration or the mechanical subsystem dynamics.)…”

Adaptive output-feedback control of induction motors

“…The form of the open-loop equation given by ( 3 ) and the fact that stator current measurements are not available motivates us to design the voltage control input as follows where i d ( t ) is the time-derivative of the desired stator current trajectory. After substituting the voltage control input of (12) into the open-loop equation of ( 3 ) and simplifying the resulting expression, we obtain…”

“…The control design proceeds with the formulation of a desired torque signal to achieve rotor velocity tracking and to compensate for parametric uncertainty associated with the mechanical subsystem. A dynamic filtering technique similar to that used in [3] and [4] is used to design the desired torque signal, and hence, the desired torque signal and the desired stator current trajectory do not depend on rotor velocity (As pointed out in [14], this independence of rotor velocity in the desired stator current trajectory signal is important because it is this feature that allows the voltage control input to be designed independent of the rotor acceleration or the mechanical subsystem dynamics). Based on the rotor flux and stator current exponential tracking result, a second Lyapunov-type argument, which explicitly accounts for the coupling between the mechanical subsystem and the electrical subsystem, is then used to delineate global asymptotic rotor velocity tracking.…”