An adaptive controller for a class of induction motor systems

In this paper, we present an adaptive, partial-state feedback, position/velocity tracking controller for the full-order, nonlinear dynamic model representing an induction motor actuating a mechanical subsystem. The proposed controller compensates for parametric uncertainty in the mechanical subsystem while yielding global asymptotic rotor position/velocity tracking. The proposed controller does not require measurement of rotor flux or rotor current; furthermore, the controller does not exhibit any singularities. Experimental results are provided to verify the effectiveness of the approach