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The position control of induction motors using the binary disturbance observer

A control approach for the robust position control of induction motors based on the binary disturbance observer is described. The conventional binary disturbance observer is used to remove the chattering problem of a sliding mode disturbance observer. However, steady state error may exist in the conventional binary disturbance observer because it estimates external disturbances with a constant boundary layer. In order to overcome this problem, a new binary disturbance observer with an integral augmented switching hyperplane is proposed. The robustness is achieved, and the continuous control is realised by employing the proposed observer without the chattering problem and the steady state error. The effectiveness of the proposed observer is confirmed by the comparative experimental results.