Kalman filter estimators applied to robust control of induction motor drives

This paper proposes the contemporaneous application of two Kalman filter-based algorithms to realise a robust control of induction motor drives. The first one (EKF, extended Kalman filter) is used to obtain a correct implementation of direct vector control, since it estimates the rotor flux components, rotor time constant, rotor resistance, and leakage reactance. The on-line adaptation of electrical parameters makes it possible to obtain very accurate estimates of rotor flux components, in spite of temperature and saturation effects. The second one (LKF, linear time invariant Kalman filter) estimates the equivalent disturbance to realise the rejection of external disturbances and robustness to mechanical-parameter variations