Robust Cascade Control of Electric Motor Drives using PI Observers

Young Ik Son, Dae Sik Choi, Kyoung Hoon Cho, In Hyuk Kim, and Sang Hee Kang


Robust control, PI observer, Electric motor drive, Cascade control


This paper presents a new practical control structure for electric motor drives under parameter uncertainty. Since the conventional PI-type controller requires accurate information on the motor parameters and load conditions to achieve the desired performance, a reduced-order observer-based perturbation estimator has been proposed with the PI controller to preserve the nominal performance of the conventional method. Analysis on the robust performance of the perturbation observer is presented by using the singular perturbation theory. Both computer simulations and experimental results verify that the proposed controller can be used effectively as an additional compensator to the PI-type cascade scheme for electric motor drives.

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