Adaptive control of induction motor systems despite rotor resistance uncertainty

We present an adaptive, partial-state feedback, position tracking controller for the full-order, nonlinear dynamic model representing an induction motor actuating a mechanical subsystem. The proposed controller compensates for uncertainty in the form of the rotor resistance parameter and all of the mechanical subsystem parameters, while yielding asymptotic rotor position tracking. The proposed controller does not require measurement of rotor flux or rotor current; however, it does exhibit a singularity when the magnitude of the estimated rotor flux is zero. Simulation results are provided to verify the effectiveness of the approach. Copyright (C) 1996 Elsevier Science Ltd.