Design of a position servo with induction motor using self-tuning regulator and Kalman filter

This paper presents a position servomechanism with an induction motor, based on a self-tuning controller. The Kalman filter is used to observe the disturbance load torque and a RELS (recursive extended least squares) method is used to identify the mechanical parameters of the system such as total moment of inertia and nominal viscous friction coefficient. The controllers of the electric variables such as rotor flux and the stator currents, which are required for the implementation, are also described. The effectiveness of the proposed system is demonstrated by simulation and experimental results