Experimental Evaluation of Induction Motor Robust Control Using Sliding Mode Linearization Technique Hadda Benderradji 1 , Larbi Chrifi-Alaoui 2 1 Univ. of Msila Electrical Engineering department, Algeria 2 Uni. of Picardie Jules Verne, 02880 Cuffies, France h_benderradji@yahoo.fr : larbi.alaoui@u-picardie.fr Said Drid 3 , Abdessalam Makouf 3 3 Laboratory of induction and propulsion systems, Electrical Engineering Dept. Univ. of Batna, Algeria s_drid@yahoo.fr a_makouf@yahoo.fr Abstract—This paper, deals with a new input-output sliding mode linearization control for induction motor combined with field oriented control (FOC). To control the speed and rotor flux modulus, we develop two loops. The first one, inner loop, allows to linearize the system by a choose of closed loop poles to achieve a good linearization. The choice of a particular sliding surface permits to create a link between sliding mode theory and input– output linearization. The second one, external loop, allows to modify the dynamics obtained by the first one using PI controller to guarantee stability and tracking performance of speed and rotor flux modulus. The effectiveness of this new approach has been successfully verified through experimental results. Keywords— Induction motor, Sliding mode control, input- output linearization control, PI control, coprime factorization. I. INTRODUCTION Due to the advances in power electronics and microprocessors, IM drives used in variable speed and position control, have become more attractive in industrial processes such as robot manipulators, factory automations and transportation applications. However, the dynamic characteristics of the induction motor drive are complex, highly nonlinear and coupled. In addition the drive control is sensitive to machine parameter variations and load disturbances. In the past years, many techniques for the control of IM have been investigated. Among them, the field-oriented control (FOC) is the most popular one. The availability of high-performance digital signal processors (DSPs) makes field oriented control a practical choice for a wide range of applications. The rotor flux orientation is generally preferred, owing to the high dynamic and steady-state performance obtained. Nevertheless, the control performance of the resulting system is still influenced by the uncertainties, which are usually composed of unpredictable parameter variations, external load disturbances and nonlinear dynamics. Therefore, many studies have been made on the motor drives in order to preserve the performance under these uncertainties, such as exact input-output linearization [1-5], and sliding mode control (SMC) [6-9]. SMC is one of the effective nonlinear robust control approaches, since it provides system dynamics with an invariant property to uncertainties once the system dynamics are controlled in the sliding mode. Recently, many applications of field oriented control of induction motor have been developed around sliding mode control theory and many papers are published in this field [10- 12]. In this paper, we propose a new input-output sliding mode linearization control for induction motor. First, the field oriented control IM is derived, then two loops are used for purpose of imposing the dynamics of induction motor. The first one allows to linearize the system and achieves input– output decoupling of rotor speed and rotor flux modulus. The second one allows to modify the dynamics obtained by the first one using PI controller in order to improve some performances like bandwidth and robust stability. Experimental results are presented and discussed. II. DIRECT FIELD ORIENTED CONTROL OF THE IM A rotor field orientation in the synchronous reference frame is realized if we let φ rq = 0 and φ rd = φ r So, the induction motor is represented by the following equations: rd sd rd rd sq sd s sq rd sq s sd sd Mi dt d p i i dt di i i dt di αφ α φ βωφ δ ω αβφ ω δ − = − − − = + + − = (1) ω φ ω F J T i μ dt d L sq rd − − = (2) With: