Observer-based adaptive control of a variable reluctance motor: Experimental results

Presents experimental results for two adaptive nonlinear controllers applied to a variable reluctance motor (VRM). The first controller requires both rotor position and velocity (full-state) feedback, while the latter is an observer-based backstepping-type output feedback controller, requiring only rotor position measurement. Velocity for the full-state controller is estimated using a high-gain "differentiating filter". The experimental comparison shows that the observer-based controller provides a better transient response, a smaller steady-state tracking error when gains for both controllers are comparable.