Abstract
Position and velocity tracking control with high dynamic performance of induction motors has generated great interest in the control community, due to the advantageous characteristics that this rotating machine exhibits. Unfortunately, the results reported in the specialized literature about this topic are mainly focused on the study of the stability properties of the control scheme, leaving the dynamic performance as a secondary issue. In this paper, the analysis of a nonlinear controller designed using passivity concepts is presented. This analysis is mainly oriented towards the performance evaluation of the induction motor when highly variable velocity profiles are imposed. Following a Root–Cause analysis, it is evaluated the implementation facility of this control scheme and the required implementation issues that improve its dynamic response. Special attention is given to the necessity of differentiate signals that appears in the control structure and several alternatives to carry this operation out are evaluated. The results are presented in simulation, as well as, in an experimental setup. In both cases the analysis is validated by key indicators of performance that identify the scenario with the best behavior under different operation conditions. The results show that the scenario with the best performance corresponds to the basic structure considered in the literature but incorporating suitable modifications that define a tuning strategy that allows to reach excellent dynamic performance.
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