Adaptive backstepping control for linear induction motor drive to track periodic references

An adaptive backstepping controller is proposed to control the mover positi on of a linear induction motor (LIM) drive to track periodic reference inpu ts in this study. First, the feedback linearisation theory is used to decou ple the thrust force and the flux amplitude of the LIM. Then, an integral-p roportional (IP) position controller is designed according to the estimated plant model to match the prescribed periodic step-command tracking specifi cations for the LIM drive. Moreover, a feedforward control is added to the IP control system for the tracking of periodic sinusoidal and triangular re ference inputs. Although theoretically the feedforward control can track an y time-varying reference, the robust control performance is degenerate when the uncertainties occur in the controlled plant. Therefore. an adaptive ba ckstepping approach is proposed to obtain the robustness for uncertainties. With the proposed adaptive backstepping controller, the mover position of the LIM drive possesses the advantages of good transient control performanc e and robustness to uncertainties for the tracking of periodic reference in puts. The effectiveness of the proposed control scheme is verified by both the simulated and experimental results.