End point constraints nonlinear predictive control with integral action for induction motor

In this paper the optimal nonlinear predictive control law is presented with application to induction motors in cascade structure. Both speed and torque/flux tracking objectives are achieved in matched and mismatched case. An integral action is introduced in external loop to improve the robustness with respect to load torque variations. The rotor flux is estimated by the Kalman filter. Simulations show the flux-speed tracking performances and the disturbance rejection capabilities of the proposed controller, which is suitable for high dynamic performance applications.