ABSTRACT
This chapter develops a load position tracking controller for the electromechanical model of an induction motor driving a position-dependent load under the assumptions that only load position and stator current measurements are available and that an exact model for the electromechanical system dynamics can be determined. Specifically, by utilizing the structure of the induction electromechanical system, nonlinear observers are designed to estimate the load velocity and the rotor flux. The chapter uses a Lyapunov-like argument to motivate the construction of the observers. It uses the structure of these observers, the observed-integrator backstepping procedure, nonlinear damping tools, and the commutation strategy to design a load position tracking controller. A voltage input, which ensures exponential load position tracking, is designed while using only partial state feedback. In addition to position tracking, the main control objective is to ensure that all of the signals in the observer and the controller remain bounded during closed-loop operation.
