On the experimental robustness of a passivity-based controller for induction motors

In this paper we present some results related with the experimental evaluation of the robustness of a recently reported nonlinear controller for induction motors developed using passivity arguments. We approach the case of motor (both stator and rotor) resistance variations and constant disturbance (load torque) rejection considering speed control. The experiments were carried out using a voltage-fed type inverter designed to drive a laboratory 2φ induction motor and the control loop was implemented using a DSP-based computational system. Besides the robustness results, the experiments were designed in order to enlight the global properties of the controller