ABSTRACT
This chapter applies the adaptive integrator backstepping tools to the design of a position tracking controller for the induction motor driving a mechanical load. Since the motor is typically a three phase machine, the standard, stator fixed transformation is utilized to substantially simplify the nonlinear electromechanical dynamics. To facilitate the design of the controller, the motor is viewed as a torque source and a desired torque signal is designed to ensure that the load follows the desired position trajectory. A voltage input control relationship is developed to force the entire torque transmission term to track the desired torque. That is, the electrical dynamics are taken into account through the torque tracking objective, and hence the position tracking control objective is embedded inside the torque tracking objective. The chapter formulates a desired rotor flux tracking control objective to ensure that all of the electromechanical state variables remain bounded during closed-loop operation.
