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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 Vds and Vqs, are also described. Experimental results are presented to verify its robustness and performance.