Adaptive control of induction motor systems despite rotor resistance uncertainty

In this paper, we present an adaptive, partial-state feedback, position/velocity tracking controller for the full-order, nonlinear dynamic model representing an induction motor actuating a mechanical subsystem. The proposed controller compensates for uncertainty in the form of the rotor resistance parameter and all of the mechanical subsystem parameters while yielding asymptotic rotor position/velocity tracking. The proposed controller does not require measurement of rotor flux or rotor current; however, the controller does exhibit a singularity when the magnitude of the estimated rotor flux is zero. Simulation results are provided to verify the effectiveness of the approach