Adaptive backstepping speed/position control with friction compensation for linear induction motor

We propose a nonlinear adaptive controller and an adaptive backstepping controller for a linear induction motor to achieve speed/position tracking. A nonlinear transformation is proposed to facilitate controller design. Besides, the very unique end effect of the linear induction motor is also considered and is well taken care of in our controller design. We also consider the friction dynamics effect and employ observer-based compensation which cope with friction force. Stability analysis based on Lyapunov theory is also performed to guarantee that the controller design is stable. Also, the computer simulations and experiments are done to demonstrate the performance of our various controller designs.