A method of actively maintaining voltage margin in field oriented induction machine controllers is proposed. A voltage margin controller is developed that rejects dc link and load disturbances such that current regulation and field orientation is maintained. In addition, the voltage margin controller coupled with rotor flux oriented control is shown to provide maximum torque capability equivale...

Tracking control of the direct-drive robot manipulators in high-speed is a challenging problem. The Coriolis and centrifugal torques become dominant in the high-speed motion control. The dynamical model of the robotic system including the robot manipulator and actuators is highly nonlinear, heavily coupled, uncertain and computationally extensive in non-companion form. In order to overcome thes...