This book introduces a passivity-based approach which simplifies the
controller design task for AC-motors. It presents the application of
this novel approach to several classes of AC motors, magnetic levitation
systems, microelectromechanical systems (MEMS) and rigid robot
manipulators actuated by AC motors.
The novel passivity-based approach exploits the fact that the natural
energy exchange existing between the mechanical and the electrical
subsystems allows the natural cancellation of several high order terms
during the stability analysis. This allows the authors to present some
of the simplest controllers proposed in scientific literature, but
provided with formal stability proofs. These simple control laws will be
of use to practitioners as they are robust with respect to numerical
errors and noise amplification, and are provided with tuning guidelines.
Energy-based Control of Electromechanical Systems is intended for both
theorists and practitioners. Therefore, the stability proofs are not
based on abstract mathematical ideas but Lyapunov stability theory.
Several interpretations of the proofs are given along the body of the
book using simple energy ideas and the complete proofs are included in
appendices. The complete modeling of each motor studied is also
presented, allowing for a thorough understanding.
Advances in Industrial Control reports and encourages the transfer
of technology in control engineering. The rapid development of control
technology has an impact on all areas of the control discipline. The
series offers an opportunity for researchers to present an extended
exposition of new work in all aspects of industrial control.