Position control of the induction motor using a passivity-based controller

In this paper a passivity-based IM drive for position applications is proposed. The adopted nonlinear control approach differs from the others because of a different formulation of the mathematical model of the induction motor which emphasizes its energy properties and behavior. The drive achieves satisfactory torque, speed and position tracking without the exact knowledge of the motor parameters and it does not require any external flux observer. Thanks to its simple equations it has been implemented using standard microprocessors. After a description of the method, some experimental results from a 2 kW experimental drive are given.