Stability of sliding-mode current control for high performance induction motor position drives

A novel inner-loop sliding-mode current control scheme is proposed based on a nonlinear mathematical model of induction motor position drives. The par ameters of position and speed controllers are taken into consideration in t he inner-loop sliding-mode current control. After deriving the error dynami c equations, a rigorous stability verification for the: overall system is p rovided. The proposed scheme is implemented by a PC-based controller. Agree ment between analytical studies and experimental results confirms the valid ity of the proposed control system. The overall system exhibits robust stab ility and robust performance despite the presence of motor parameters and s haft moment of inertia variations as well as exogenous load disturbances.