A controller design methodology for systems with physical structures: application to induction motors

The authors propose an extension of the controller design methodology used in robot motion control to solve an output tracking problem for a class of systems described by its Euler-Lagrange equations with fewer control actions than degrees of freedom. It is shown that the problem can solve a set of algebro-differential equations that define the controller dynamics and the attainable trajectories. To illustrate the procedure the authors solve the induction motor torque regulation problem