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The purpose of this thesis is to design a high performace velocity controller for vaiable reluctance motors (VRM) based on an adaptive feedback linearization method. The nonlinear adaptive controller developed in this thesis contains two parts, one part compensates all the non-linearities between inputs and putputs, the other part contains a linear controller for motion tracking. With this controller, the asymptotic convergence of both the parameter estimation errors and command tracking errors are guaranteed. Furthermore, this adaptive controller is combined with a balanced commutator to reduce the torque ripple due to the salient structure in the VRM. Simulation result show that both the parameter estimation and the velocity tracking performance are excellent even when the disturbance load is present.
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