Flatness-based adaptive control of synchronous reluctance machines with output feedback

The present article proposes an adaptive neurofuzzy control method that is capable of compensating for model uncertainty and parametric changes of Synchronous Reluctance Machines (SRMs), as well as for lack of measurements for the SRMs state vector elements. First it is proven that the SRM's model is a differentially flat one. This means that all its state variables and its control inputs can be written as differential functions of key state variables which are the so-called flat outputs. Moreover, this implies that the flat output and its derivatives are linearly independent. By exploiting differential flatness properties it is shown that the 4-th order SRM model can be transformed into the linear canonical form. For the latter description, the new control inputs comprise unknown nonlinear functions which can be identified with the use of neurofuzzy approximators. The estimated dynamics of the electric machine is used by a feedback controller thus establishing an indirect adaptive control scheme. Moreover, to improve the robustness of the control loop a supplementary control term is computed using H-infinity control theory. Another problem that has to be dealt with comes from the inability to measure the complete state vector of the SRM. Thus, a state-observer is implemented in the control loop. The stability of the considered observer-based adaptive control approach is proven using Lyapunov analysis.