Position tracking control of an induction motor via partial state feedback

Abstract

This paper presents a position tracking controller for an induction motor driving a robotic load. Using nonlinear models of the induction motor and a nonlinear observer, a focal exponential stability (ES) result for motor position tracking error is obtained. The control only requires measurements of rotor position and stator currents while utilizing exact knowledge of the system parameters. Simulation results are given to show the effectiveness of the proposed controller.<>