Nonlinear cascaded control of electromechanical systems

In this paper, a nonlinear version of the classical cascaded controller is presented that was primary developed for electrical devices and, after this, widely used for electromechanical systems. The controller is developed considering a generalized nonlinear model of electromechanical systems that captures both translational and rotational systems with an electrical subsystem that considers the existence of magnetic (inductances) and electric (capacitances) energy storage elements. In contrast with the classical linear approach, the controller is designed using a nonlinear approach, specifically, by considering the energy dissipation (passivity) properties of the system, which lead to a formal analysis of convergence and stability properties of the considered scheme