New robust adaptive control algorithm for high-performance AC drives

This paper presents a new robust structure for a model reference adaptive c ontrol (MRAC) controller for field-oriented-controlled (FOC) drives which r equires no prior knowledge of the drive parameters and is guaranteed to pro vide global asymptotic stability of the closed-loop system, This structure simplifies the design and implementation of the adaptive controller requiri ng less effort to synthesis than a standard MRAC system. Discussion on theo retical aspects, such as selection of a reference model, stability analysis proof, gain adaptive process, steady-state error elimination, and robustne ss to unmodeled dynamics are included. The paper describes many practical a spects of the implementation, such as adaptive gain analysis, adaptive rate selection, the gain variation limits, gain windup prevention measure, and initial values, The new robust adaptive controller has been successfully im plemented on an FOC drive and experiment results for dynamic tracking, sudd en loading and unloading, and gains adaptation under different operation co nditions are presented to support the robustness of the proposed controller .