This paper describes a systematic procedure to design H∞ position and flux-norm tracking controllers for current-fed induction motors. The designed controllers achieve convergence to zero of both position and flux-norm tracking errors while ensuring robustness with respect to unknown load torque disturbances. The proposed procedure offers the possibility of a simple development of the controllers’ design; in particular, it does not require a numerical solution of the Riccati matrix equation. A case study has been set up which considers the application of the proposed control scheme to a two-link robot manipulator system actuated by two induction motors. Numerical simulation results confirm the validity of the proposed design methodology, even in the presence of rotor resistance uncertainty.

Issue Section:
Technical Briefs
Keywords:
induction motors, optimal control, tracking, control system synthesis, convergence, robust control, manipulators
Topics:
Control equipment, Design, Electromagnetic induction, Errors, Manipulators, Motors, Rotors, Stress, Design methodology, Uncertainty
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Copyright © 2002
 by ASME
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