**Author details**

The last part of the chapter shows the position control of the drive. Conclusions that come from the SM position control analysis are analogical to the ones from the speed control. Direct position control does not ensure the torque and speed supervision, that is solved by the cascade control structure. Simultaneously, the chattering can be reduced using the continuous

All of these control concepts are illustrated using simulation and experimental study. Special attention has been paid to create a simulation model that allows to take the digital realization

This work has been financed by the National Science Centre (Poland) under project number

Experimental tests were realized using the DSP dSpace 1103 with sampling time equal to 100 μs (10 kHz). The DSP controlled the transistors of the classical two-level VSI, which supplied

**Tables 1**–**3** include rated values of the tested IM, its parameters and base values, necessary to

the 3 kW tested motor. 6 kW DC motor was used to generate the load torque.

**Name Symbol SI units Normalized units [p.u.]**

make the transition from physical units to the p.u. system, respectively.

Voltage *UN* 400Δ/680Y [V] 0.707 Current *NN* 7.0Δ/4.0Y [A] 0.707 Power *PN* 3000 [W] 0.62 Torque *MN* 20.46 [Nm] 0.67 Rotational frequency *nN* 1400 [rpm] 0.933 Frequency *fSN* 50 [Hz] 1 Stator flux *ΨsN* 1.65 [Wb] 0.91 Rotor flux *ΨrN* 1.55 [Wb] 0.86 Pole pairs *pb* 2 [-] 2 Power factor cos*φ* 0.80 [-] 0.80 Efficiency *η* 0.778 [-] 0.778

**Table 1.** Rated parameters of the tested induction motor.

approximation of the sign function and the equivalent signal-based approach.

of modern DSP control applications and measurement delays into account.

**Acknowledgements**

94 Robust Control - Theoretical Models and Case Studies

2015/17/B/ST7/03846.

**Appendices**

Grzegorz Tarchała and Teresa Orłowska-Kowalska

\*Address all correspondence to: grzegorz.tarchala@pwr.edu.pl

Department of Electrical Machines, Drives and Measurements, Wrocław University of Technology, Wrocław, Poland
