Speed tracking of induction motors with backlash inputs using adaptive backstepping control

Induction motors have attracted the attention of the control community for more than three decades. However, the AC machine has many control challenges due to its complicated dynamics and the effect of model uncertainty of various types. In this paper, the problem of model-based tracking control in the presence of unknown backlash-input nonlinearities is considered. The controller design is based on the adaptive backstepping technique. This technique is proven to be a powerful tool to stabilize nonlinear systems and compensate against systems' uncertainties. The developed results are simulated numerically by the use of MATLAB/SIMULINK software. The obtained results prove the successfulness of the controller in handling input uncertainty while achieving the desired control objective.