Observer-based adaptive control of a variable reluctance motor: experimental results

Presents experimental results for two adaptive nonlinear controllers applied to a variable reluctance motor (VRM). The first controller requires both rotor position and velocity (full state) feedback, while the latter is a backstepping-type output feedback controller, requiring only rotor position measurement. Velocity for the full-state controller is estimated using a high-gain "differentiating filter". The experimental comparison shows that the observer-based controller provides a better transient response and a smaller steady-state tracking error when gains for both controllers are comparable.