Robust adaptive control of switched-reluctance motors without velocity measurements

We present a speed-sensorless tracking controller for switched reluctance motors with unknown parameters. Our approach relies on the design of two control loops: an outer control-loop for the rotor dynamics which is driven by a PID-type controller where the stator currents are viewed as virtual control inputs, and an inner tracking control-loop for the stator currents. We assume that the parameters of the rotor (inertia and the load torque) are unknown and we establish uniform global exponential stability. In the case that also the stator parameters are unknown, we add an adaptation law and we establish convergence of the tracking errors.