Passivity-based Control with Simultaneous Energy-shaping and Damping Injection: The Induction Motor Case Study

We argue in this paper that the standard procedure used Passivity-Based Controller (PBC) designs of splitting the control action into energy-shaping and damping injection terms is not without loss of generality, and actually reduces the set of problems that can be solved with PBC. Instead, we suggest to carry out simultaneously both stages. As a case in point, we show that the practically important example of the induction motor cannot be solved with a PBC in two stages. It is, however, solvable carrying out simultaneously the energy-shaping and the damping injection. The resulting controller is a simple output feedback scheme that ensures global exponential convergence of the generated torque and the rotor flux norm to their desired (constant) values. To the best of our knowledge, this is the first output feedback scheme that ensures such strong stability properties for this system.