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

This paper presents experimental results for two adaptive nonlinear controllers applied to a variable reluctance motor (VRM). The rst controller requires both rotor position and velocity (full state) feedback, while the latter is an observer-based backstepping-type output feedback controller, requiring only rotor position measurement. Velocity for the full-state controller is estimated using a high-gain \diierenti-ating lter." The experimental comparison shows that the observer-based controller provides a better transient response, a smaller steady-state tracking error when gains for both controllers are comparable. Adaptive nonlinear control theory has developed rapidly in the last ve years, and the state-of-the-art is now readily available in textbook form 1]. Experimental veriication of these theoretical advances has occurred in parallel. Examples include induction motor control associated conference special sessions testiies to the strong interest in such experimental veriication.