ROBUST 2-DEGREES-OF-FREEDOM CONTROL FOR INDUCTION-MOTOR SERVODRIVE

A robust two-degrees-of-freedom (2DOF) position controller for inducti on motor servodrive is proposed. First, a DSP-based indirect held-orie nted induction motor servodrive is implemented and its dynamic model f or the nominal case is estimated. Based on this model, a 2DOF controll er is quantitatively designed. Then a simple robust controller with de ad-time compensation is designed and augmented to reduce the effects o f parameter variations and system dead-time on the control performance , The effectiveness of the proposed controller is demonstrated by simu lated and measured results.