SUMMARYIn this paper, a new passivity-based control (PBC) scheme based on state feedback is proposed in order to solve tracking, regulation and stabilization problems for a class of multi-input multi-output (MIMO) nonlinear systems expressed in the normal form, with time-invariant parameters and locally bounded reference weakly minimum phase. For the proposed control scheme two new different state feedbacks, one non-adaptive for the case when the system parameters are assumed to be known and the other adaptive for the case of unknown parameters, are developed. For the adaptive case it is assumed that the unknown parameters appear linearly in the equations. Analysis of the transient behaviour of the proposed control schemes is presented through the simulation of two examples.

In this paper two new schemes for induction motor control are proposed and compared. Both approaches are based on the concept of adaptive passivity. First, a technique using the scheme of field oriented control (FOC) is proposed, and by means of an adaptive state feedback, a passive equivalent system is obtained. Furthermore, making use of the novel torque-flux control principle (TFCP), the proposed scheme is greatly simplified. Second, a technique based on energy shaping approach, which does not make use of the FOC scheme, is proposed. The technique is based on interconnection and damping assignment (IDA) control transforming the original system into a passive one. Since this technique does not use the FOC scheme, it gives more flexibility in the implementation. Both techniques are then implemented at laboratory level and compared from experimental viewpoint using as benchmark the standard FOC scheme with PI controllers.

A new control scheme for induction motors is proposed in the present paper, applying the interconnection and damping assignment-passivity based control (IDA-PBC) method. The scheme is based exclusively on passivity based control, without restricting the input frequency as it is done in field oriented control (FOC). A port-controlled Hamiltonian (PCH) model of the induction motor is deduced to make the interconnection and damping of energy explicit on the scheme. The proposed controller is validated under computational simulations and experimental tests using an inverter prototype.

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A new Matlab/Simulink based simulation toolbox for studying and designing induction motor field oriented control schemes is proposed in this article. It has advantages over other previous works published since it is modular, flexible, interactive, easy to use, and the results are closer to the experimental ones because it takes into account real complex effects, such as: motor core saturation, parameter variations with the speed and temperature, sensor signal digital processing, and inverter real voltage waveforms. These results has been successfully applied in teaching undergraduate and graduate courses at the authors' universities for building, identification and characterization of diverse control schemes, analysis of parameter effects, and design and test of new controllers for field oriented control schemes in induction motors. Beside the theoretical and computational basis of the toolbox, simulation results of an indirect field oriented control current regulated pulse width modulation scheme are presented in the article as example.