Adaptive backstepping motion control of induction motor drives

Shir-Kuan Lin, Chih Hsing Fang, Mu Ping Chen, Jan Ku Chen

Research output: Contribution to journalConference article


In this paper, an adaptive backstepping controller is proposed for the position tracking of a mechanical system driven by an induction motor (IM). The mechanical system is a single link fixed on the shaft of the induction motor. The backstepping methodology provides a simpler design procedure for a adaptive control scheme than the model reference adaptive control method, which is demonstrated in this paper. Another feature is that it provides a way to define the sliding surface if one wants to use the robust sliding-mode control. Thus, the backstepping control can be easily extended to be an adaptive sliding-mode controller. The final position control system is shown to be stable and robust to the parameter variations and external disturbances. The effectiveness of the proposed controllers are demonstrated by some experiments.

Original languageEnglish
Pages (from-to)247-252
Number of pages6
JournalIFAC Proceedings Volumes (IFAC-PapersOnline)
Issue number1
StatePublished - 1 Jan 2002
Event15th World Congress of the International Federation of Automatic Control, 2002 - Barcelona, Spain
Duration: 21 Jul 200226 Jul 2002


  • Adaptive backstepping control
  • Induction motors
  • Sliding-mode

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