Impact of magnetic saturation on the input-output linearising tracking control of an induction motor

This paper deals with the tracking control design of an induction motor, based on input-output linearization with magnetic saturation included. Magnetic saturation is represented by the nonlinear magnetizing curve of the iron core and is used in the control design, the observer of state variables, and in the load torque estimator. An input-output linearising control is used to achieve better tracking performances of the drive. It is based on the mixed ”stator current - rotor flux linkage” induction motor model with magnetic saturation considered in the stationary reference frame. Experimental results show that the proposed input-output linearising tracking control with the included saturation behaves considerably better than the one without saturation, and that it introduces smaller position and speed errors, and better motor stiffness on account of the increased computational complexity.