H Infinity Robust Controller for Electric Bicycles

The performance of electric bicycles is largely determined by their electric controllers, which is regarded as a core component in the whole system. We use the robust control theory to design a Hinfin robust controller for the current loop in the closed speed-current dual-loop system. Furthermore, we use the Hinfin robust controller to design an energy recovery controlling system based on the driving and energy regenerating circuit topology for widely used electric bicycles. Experiments and simulations show that the Hinfin robust controller out-performs the traditional PID controller in many respects including stability, error, response speed and driving distance per battery charge.