Speed and position servo for induction motor using robust model reference adaptive control

This paper presents a speed and a position servomechanism for induction motors (IM) based on a robust model reference adaptive control (RMRAC). The RMRAC control law is applied to the mechanical part of the plant to compensate disturbances and unmodeled dynamics. A coupling compensation method applied on stator currents, which are required to generate stator voltages V/sub ds/ and V/sub qs/, are also described. Experimental results are presented to verify its robustness and performance.