Tracking control of cascade systems based on passivity: The non-adaptive and adaptive cases

Abstract

A new cascade passivity-based control scheme for tracking purposes is proposed in this paper. The proposed scheme is valid for a certain class of nonlinear systems even with unstable zero dynamic, and it is also useful for regulation and stabilization purposes. The cases where all system parameters are assumed to be known ͑nonadaptive case͒ and also the case when they are unknown ͑adaptive case͒ are considered. Some simulation examples are studied to analyze the behavior of the proposed scheme.

Normalized-Model Reference System for Parameter Estimation of Induction Motors

“…Moreover, N p = 4 for a v e = 2, consistent with [30], matching these two criteria results. For the IM mechanical subsystem (10) we have that v r = 1 with m = 0 and n = 1, according to [29] and, N p = 2 for a v r = 1, consistent with [30], matching the results again.…”

“…where the numerator order is m = 0, and the denominator order of the transfer function (10) is n = 1. Hence, we have N p = (m + n + 1) = 2 parameters given by:…”

“…Also, two improved versions of the high starting torque V/f strategy [6] avoid using the knowledge of the motor-load parameters. These propose using normalized adaptive controllers [7,8] for the starting current after expanding the techniques given in [9,10], respectively. Both controllers require the detailed structure of the IM dynamical model.…”

Passivity-based current controller design for a permanent-magnet synchronous motor

“…This method has been instrumented as the solution of several robotics [4][5][6][7], induction motors [8][9][10][11][12][13], and power electronics [14] problems. It has also been combined with other techniques [15][16][17][18][19][20][21][22]. A PBC design with simultaneous energy shaping and damping injection for an induction motor using the dq model has been presented in [8].…”

“…Given their nature, the two controllers work together with a field orientation block. In [16], a cascade passivity-based control scheme for speed tracking purposes is proposed. The scheme is valid for a certain class of nonlinear system even with unstable zero dynamic, and it is also useful for regulation and stabilization purposes.…”