Robust decoupled controller of induction motor by combining PSO and Kharitonov’s theorem

Abstract

The problem of parameters uncertainty of the controlled system is one of the most challenges faces controller designers. This work proposes a combination between the Particle Swarm Optimization (PSO) method and Kharitonov's theorem in a single optimization process as a robust control design procedure against parameters uncertainty. This approach is realized by integrating various constraints functional and robustness in the controller design against uncertainty conditions, the method presents a comprehensive evaluation to validate performance and robustness. The decoupling controller is presented in this work to design the Field Oriented Control (FOC) as an efficient controller of the Induction Motor (IM). The proposed procedure works in offline mode to obtain the optimum controller's gains which having the certificate of Kharitonov's stability theorem. Simulation results demonstrate an excellent harmonize between system performance and stability in various operation conditions. A high degree of stability correlated excellent speed tracking against parameters variation is illustrated in results. A comparison study with a nominal PI-PSO simulation shows the superior performance of the proposed design in rising time and overshoot.