Passivity‐based adaptive position control for an induction motor

Abstract

This paper presents a passivity‐based composite adaptive control scheme for the position control of an induction motor. First, the dynamics of the induction motor are proved to be state strictly passive by the passivity theorem. Then, a composite adaptive estimation algorithm is designed to control the position of the induction motor and the global stability of the overall position control system is proved based on passivity instead of Lyapunov‐type arguments. The approach is robust with regard to variations of motor mechanical parameters and external load disturbances. Experimental results are provided to show that good position tracking capability can be obtained without knowledge of the rotor flux.