Induction motor control with PI-load estimator

A control approach for robust accurate trajectory tracking of IM servodrive based on a torque disturbances estimator is described. The developed control algorithm is not sensitive to parameter variations and external influences and also assures precise trajectory tracking with the prescribed dynamics. It consists of a state controller and a torque disturbance observer. The algorithm was verified by simulations and experiments. The experimental system consists of a T805 transputer and a microcontroller with a M68000 microprocessor. It enables parallel computation.