Robust speed controller design for induction motors based on IFOC and Kharitonov theorem

In this paper, robust PI controllers are designed to control the speed of induction motors based on a vector control strategy. The design methodology defines the robust stability and robust performance regions in the kp − ki (PI controller coefficients) plane using the Kharitonov theorem. In the control system design procedure, a nonlinear induction motor is modeled as an uncertain linear model. The procedure of modeling the uncertainties is presented. The required scientific foundations for designing a robust PI controller are also introduced in the general case while the necessary equations are derived. In the final step, the design procedure for a special motor is presented thoroughly. The simulation results indicate the efficiency of the method.