Adaptive observer-based robust control for motion control systems with induction motor

This paper deals with motion control systems employing induction motor drives. In order to cope with mechanical parameter variations, robust control techniques for position control are developed based also on an adaptive observer which gives an estimation of both the motor speed and the disturbance torque starting from a signal given by a position sensor. Load torque and Coulomb friction are considered as disturbance torques. Both the robust controller and the adaptive observer are designed using model reference adaptive techniques. Simulation experiments are displayed which show a good rejection to parameter variations and disturbance torques, and a satisfactory estimation of the total inertia coefficient