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 come 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.

Autorentext

Professor Victor Manuel Hernández-Guzmán received his B.S. from Instituto Tecnologico de Queretaro in 1988, his M.S. from Instituto Tecnologico de la Laguna in 1991, and his Ph.D. from Centro de Investigacion y de Estudios Avanzados del Instituto Politecnico Nacional (CINVESTAV-

IPN) in 2003. He has been a Professor at Universidad Autonoma de Queretaro since 1995, and has authored or co-authored around 50 journal articles and 2 books. His research interests include control of electromechanical systems, trajectory and path tracking control in mobile robots, and DC/DC Power Electronic Converters control.

Dr Ramón Silva-Ortigoza received his B.S. degree from Benemérita Universidad Autónoma de Puebla in 1999, and his M.S. and Ph.D. degrees from the Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV-IPN), Mexico City, Mexico, in 2002 and 2006, respectively. He has been a Researcher with the Department of Mechatronics & Renewable Energy, Instituto Politécnico Nacional (IPN), Centro de Innovación y Desarrollo Tecnológico en Cómputo (CIDETEC), since 2006, and belongs to SNI-CONACYT, Mexico. He has authored or co-authored over 55 journal articles, 40 conference papers, 3 books and was editor for the book 'Mechatronics'.

Dr Jorge Orrante-Sakanassi received the B.Sc., M.Sc. and Ph.D. degrees from Instituto Tecnologico de La Laguna, in 2006, 2008 and 2012, respectively. He was a Postdoctoral Fellow at Universidad Autonoma de Queretaro, from 2013 to 2015, and he was a Professor of CONACYT commissioned at Tecnologico Nacional de Mexico/Instituto Tecnologico de Hermosillo from 2015 to 2018. Currently, he is attached to Tecnologico Nacional de Mexico/Instituto Tecnologico de Matamoros, Division de Estudios de posgrado e Investigación, since 2018.He has published around 10 papers in international JCR indexed journals and 10 papers in international conferences.

Inhalt

Introduction.- Mathematical Preliminaries.- Permanent Magnet Brushed DC-Motor.- Permanent Magnet Synchronous Motor.- Induction Motor.- Switched Reluctance Motor.- Synchronous Reluctance Motor.- Bipolar Permanent Magnet Stepper Motor.- Brushless DC-Motor.- Magnetic Levitation Systems and Microelectromechanical Systems.- Trajectory Tracking for Robot Manipulators Equipped With PM Synchronous Motors.- PID Control of Robot Manipulators Equipped with SRMs.