Tracking control technique for induction motors

A novel application is presented of the tracking control technique to induction motor drive systems. By this technique, the position or the speed of the rotor can follow a preselected track (a time history of rotor position or velocity). An algorithm for the design of the tracking controller is developed. The induction motor model and the controller are modified to allow the inclusion of the nonlinear modes in the system without excessive computations. A simple and realistic criterion for selecting the proper reference tracks during starting, speed control and braking is proposed. The controller developed, is tested on a full-size nonlinear analog simulator. All test results show the effectiveness of the scheme in position-tracking applications such as robotics and manipulators