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Turkish Journal of Electrical Engineering and Computer Sciences

Author ORCID Identifier

FADI ALYOUSSEF: 0000-0003-1878-1549

İBRAHİM KAYA: 0000-0002-8393-1358

AHMAD AKRAD: 0000-0002-1013-7460

RABIA SEHAB: 0000-0002-4938-6165

CRISTINA MOREL: 0000-0002-1012-8599

Abstract

This study proposes a novel variable-gain mechanism with a minimal number of tuning parameters to enhance the performance of conventional backstepping controllers for nonlinear systems while avoiding singularity and peaking phenomena. The proposed approach is simple, computationally efficient, and well suited for real-time implementation without imposing a significant computational burden. Its effectiveness is validated through real-time experiments conducted using a dSPACE DS1104 controller board and a 7.5-kW induction motor (IM). Simulation results demonstrate that the proposed controller outperforms the conventional backstepping controller. Robustness analyses under variations in stator resistance, load inertia, and viscous friction coefficient reveal substantial reductions in the integral squared error (ISE), from 42.78 to 0.73, 67.4 to 1.38, and 3.65 to 0.53, respectively. Experimental results further confirm that the proposed method achieves superior tracking performance and enhanced robustness against disturbances compared with existing methods reported in the literature.

DOI

10.55730/1300-0632.4195

Keywords

Backstepping control, variable-gain control, nonlinear systems, induction motor drives, robust control, disturbance rejection

First Page

643

Last Page

660

Publisher

The Scientific and Technological Research Council of Türkiye (TÜBİTAK)

Creative Commons License

Creative Commons Attribution 4.0 International License
This work is licensed under a Creative Commons Attribution 4.0 International License.

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