IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 50, NO.
6, DECEMBER 2003
Implementation of Robust Wavelet-Neural-Network
Sliding-Mode Control for Induction
Servo Motor Drive
Rong-Jong Wai, Member, IEEE, and Jia-Ming Chang
Abstract—This paper presents the design and properties of
a robust wavelet-neural-network sliding-mode control (RWSC)
system for an indirect field-oriented induction servo motor drive
to track periodic commands. First, a total sliding-mode control
(TSC) system with an integral-operation-switching surface, which
is insensitive to uncertainties in the whole control process, is
introduced. In the TSC system the controlled system has a total
sliding motion without a reaching phase. Moreover, to relax the
requirement for the bound of uncertainties, a wavelet-neural-net-
work sliding-mode control (WSC) system is investigated to control
the induction servo motor. In the WSC system, a wavelet neural
network (WNN) is utilized to estimate the bound of uncertainties
on line. In addition, an RWSC system is proposed to alleviate the
chattering phenomena in the control effort. In the RWSC system,
a boundary layer is introduced into the TSC system, and a WNN
is used to estimate the width of the boundary layer and the un-
certainty bound. Numerical simulation and experimental results
due to periodic commands show that the dynamic behaviors of the
proposed control systems are robust with regard to uncertainties.
Furthermore, the advantages of the proposed RWSC system are
indicated in comparison with the TSC and WSC systems.
Index Terms—Robust control, wavelet neural network,
sliding-mode control, indirect field-oriented control, induction
servo motor drive.
I. INTRODUCTION
T O ACHIEVE fast torque response in a four-quadrant, the
field-oriented methods [1], [2] have been used in the design
of induction motor drives for high-performance applications.
With these control approaches, the dynamic behavior of the
induction motor is rather similar to that of a separately excited dc
motor. However, the control performance of the induction motor
is still influenced by the system uncertainties such as mechanical
parameter variations, external load disturbance, unstructured
uncertainty due to nonideal field orientation in transient state,
and unmodeled dynamics in practical applications. The basic
requirement for a good servo system is that it should possess
fast response with less overshoot and accurate tracking ability.
In addition, it should be robust to various uncertainties. In the
control fields, the acquisition of the uncertainty information is
Manuscript received July 15, 2002; revised August 22, 2003. Abstract
published on the Internet September 17, 2003. This work was supported
by the National Science Council of Taiwan, R.O.C., under Grant NSC
90-2213-E-155-003.
R.-J. Wai is with the Department of Electrical Engineering, Yuan Ze Univer-
sity, Chung Li 320, Taiwan, R.O.C. (e-mail: rjwai@saturn.yzu.edu.tw).
J.-M. Chang is with the Department of LCD TV, BenQ Company, Tao-yuan,
Taiwan, R.O.C.
Digital Object Identifier 10.1109/TIE.2003.819570
0278-0046/03$17.00 © 2003 IEEE
1317
an issue of interest. From a practical point of view, however,
it is usually very difficult to get the complete information of
uncertainties.
Sliding-mode control is one of the effective nonlinear robust
control approaches since it provides system dynamics with an
invariance property to uncertainties once the system dynamics
are controlled in the sliding mode [3]–[6]. The first step of
sliding-mode control design is to select a sliding surface that
models the desired closed-loop performance in state variable
space. Then, design the control such that the system state
trajectories are forced toward the sliding surface and stay on
it. The system state trajectory in the period of time before
reaching the sliding surface is called the reaching phase. Once
the system trajectory reaches the sliding surface, it stays on it
and slides along it to the origin. The system trajectory sliding
along the sliding surface to the origin is the sliding mode. The
insensitivity of the controlled system to uncertainties exists
in the sliding mode, but not during the reaching phase. Thus,
the system dynamic in the reaching phase is still influenced
by uncertainties. To design the reaching phase, Gao and Hung
[7] partially shaped the reaching law to specify the system
dynamics in the reaching phase. However, the system dynamics
are still subjected to uncertainties. Therefore, this paper adopts
the idea of total sliding-mode control [8], [9] to get a sliding
motion through the entire state trajectory. In other words, no
reaching phase exists in the control process. Thus, the controlled
system through the whole control process is not influenced
by uncertainties. However, the chattering phenomena in the
sliding-mode control system will wear the bearing mechanism
and might excite unstable system dynamics. Although intro-
ducing a boundary layer may reduce the chatter amplitude [5],
[6], the stability inside the boundary layer cannot be guaranteed
and the poor selection of boundary layer will result in unstable
tracking responses. On the other hand, an adaptive algorithm
for estimating the bound of lumped uncertainties proposed
in [9] is designed to reduce the chattering phenomena of the
control effort. However, the adaptive algorithm is always a
positive value and tracking error introduced by any uncertainty,
such as sensor error or accumulation of numerical error, will
cause the estimated bound increase even to infinity with time.
This results in the actuator eventually being saturated and the
system may be unstable.
In the past several years, active research has been carried out
in neural network control [10]–[12]. The characteristics of fault
tolerance, parallelism, and learning suggest that they may be
good candidates for implementing real-time adaptive control for
1318 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 50, NO. 6, DECEMBER 2003
nonlinear dynamical systems. It has been proven that an artificial
neural network can approximate a wide range of nonlinear
functions to any desired degree of accuracy under certain
conditions [10]. It is generally understood that the selection
of the neural network training algorithm plays an important
role for most neural network applications. In the conventional
gradient-descent-type weight adaptation, the sensitivity of the
controlled system is required in the online training process
[12]. However, it is difficult to acquire sensitivity information
for unknown or highly nonlinear dynamics. Also, the local
minimum of the performance index remains to be challenged
[10]. In practical control applications, it is desirable to have
a systematic method of ensuring the stability, robustness, and
performance properties of the overall system. Recently, several
neural network control approaches have been proposed based
on Lyapunov stability theory [13]–[18]. One main advantage
of these control schemes is that the adaptive laws were derived
based on the Lyapunov synthesis method and, therefore, this
guarantees the stability of the control system. However, some
constraint conditions should be assumed in the control process,
e.g., that the approximation error, optimal parameter vectors,
or higher order terms in a Taylor series expansion of the
nonlinear control law are bounded. Also, the prior knowledge
of the controlled system may be required, e.g., the external
disturbance is bounded or all states of the controlled system
are measurable. These requirements are not easy to satisfy in
practical control applications.
Recently, much research has been done on applications of
wavelet neural networks, which combine the capability of arti-
ficial neural networks for learning from processes and the capa-
bility of wavelet decomposition [19]–[22] for identification and
control of dynamic systems [23]–[27]. In [23], the notion of a
wavelet network was proposed as an alternative to feedforward
neural networks for approximating arbitrary nonlinear functions
based on the wavelet transform theory, and a backpropagation
algorithm was adapted for wavelet network training. Zhang et
al. [24] described a wavelet-based neural network for function
learning and estimation, and the structure of this network is sim-
ilar to that of the radial basis function network except that the
radial functions are replaced by orthonormal scaling functions.
Zhang [25] presented wavelet network construction algorithms
for the purpose of nonparametric regression estimation. From
the point of view of function representation, the traditional ra-
dial basis function (RBF) networks can represent any function
that is in the space spanned by the family of basis functions.
However, the basis functions in the family are generally not or-
thogonal and are redundant. It means that the RBF network rep-
resentation for a given function is not unique and is probably not
the most efficient. In this study, the family of basis functions for
the RBF network is replaced by an orthogonal basis (i.e., the
scaling functions in the theory of wavelets) to form a wavelet
neural network [24], [26].
This study adopts the total sliding-mode concept [8], [9] and
the decomposition property of wavelet neural network [24], [26]
to form a robust wavelet-neural-network sliding-mode control
(RWSC) system for the rotor position control of the indirect
field-oriented induction servo motor drive. This paper is orga-
nized as follows. Section II presents an indirect field-oriented
induction motor drive briefly. In Section III, a total sliding-mode
control (TSC) control system is introduced. In the proposed
TSC system, the upper bounds of uncertainties are assumed to
be known, and the stability analysis is established in the Lya-
punov sense. There are two main problems in the design of a
sliding-mode control system, which are the requirement of the
uncertainty bound and the chattering phenomena in the con-
trol effort. Then, to overcome the problem of the assumption
of known uncertainty bounds, a WSC system is investigated
in Section IV. In the WSC system, a wavelet neural network
(WNN) is utilized to adjust the bound of uncertainties in real-
time. Moreover, an RWSC system is proposed to alleviate the
chattering effect in Section V. In the RWSC system, a boundary
layer is introduced into the TSC system, and a WNN is used
to estimate the width of the boundary layer and the uncertainty
bound. The theoretical analyzes for the proposed control sys-
tems are described in detail. Simulated and experimental results
due to periodic commands are provided to verify the effective-
ness of the proposed control systems in Section VI. Conclusions
are drawn in Section VII.
II. INDIRECT FIELD-ORIENTED INDUCTION MOTOR DRIVE
The induction servo motor used in this drive system is a three-
phase Y-connected four-pole 800-W 60-Hz 130-V/5.6-A type.
Moreover, the drive system is a ramp comparison current-con-
trolled pulsewidth-modulated (PWM) voltage-source inverter
(VSI) [9]. The current-controlled VSI is implemented by iso-
lated gate bipolar transistor (IGBT) switching components with
a switching frequency of 5 kHz. For the position control system,
the braking machine is driven by a current source drive to pro-
vide braking torque. An inertia-varying mechanism is coupled
to the rotor of the induction servo motor. The mechanical equa-
tion of an induction servo motor drive can be represented as [9]
(1)
where is the moment of inertia; is the damping coefficient;
is the rotor position; represents the external load distur-
bance; and denotes the electric torque. With the implementa-
tion of field-oriented control [1], [2], the electric torque can be
simplified as
(2)
with
(3)
where is the torque constant; is the torque current com-
mand; is the flux current command; is the number of pole
pairs; is the magnetizing inductance per phase; and is the
rotor inductance per phase. Then, the field-oriented induction
servo motor drive system can be represented in the following
form:
(4)
where ; and
is the control effort.
WAI AND CHANG: IMPLEMENTATION OF ROBUST WSC FOR INDUCTION SERVO MOTOR DRIVE 1319

III. TSC SYSTEM where

Assume that the system parameter variation and external load (12)
disturbance are absent, rewriting (4) as follows can represent the
(13)
nominal model of the induction servo motor drive system:
(14)
(5)
in which is a sign function. The first controller, ,
where is the nominal value of which is a computed torque controller, is used to compensate
is the nominal value of , which is a positive value, i.e., for the nonlinear effects and attempts to cancel the nonlinear
; and the “ ” symbol represents the system parameters in the terms in the model. After the nonlinear model is linearized, the
nominal condition. If the uncertainties occur, i.e., the parameters second controller, , is used to specify the desired system per-
of the system are deviated from the nominal value or an external formance. The objective of the third controller is to keep the
load disturbance is added into the system, the dynamic equation controlled system dynamics on the surface . That is,
of the controlled system can be modified as curb the system dynamics onto for all time. Thus,
is called a curbing controller.
Substitute (11), (12), and (13) into (6), the state variable form
can be obtained as follows:
(6) (15)
where is the nominal value of , where . Now, when . To
and denote the uncertainties; is called the lumped uncer- maintain the state on the surface for all time, one only
tainty and is defined as needs to show that
(7) (16)

Here, the bound of the lumped uncertainty is assumed to be Differentiating shown in (9) with respect to time and using
given, that is, error dynamics shown in (15) yields

(8)

where is a given positive constant. The control problem is to

find a control law so that the rotor position can track any de-
sired commands . To achieve this control objective, define (17)
the tracking error , in which represents a de- Multiplying by (17) and inserting control shown in (14)
sired position specified by a reference model. The presentation into (17) yields
of TSC for the uncertain induction servo motor drive system is
divided into two main parts and is depicted in Fig. 1(a). The
first part addresses performance design. The object is to specify
the desired performance in terms of the nominal model, and it
(18)
is referred to as baseline model design. Following the baseline
model design, the second part is the curbing controller design to Thus, the sliding mode can be assured throughout the whole
totally eliminate the unpredictable perturbation effect from the control period.
parameter variations and external load disturbance so that the The existence condition of the sliding mode can be satisfied
baseline model design performance can be exactly assured. De- using (9) with . Selection of the upper bound of
fine a sliding function as follows: lumped uncertainty has a significant effect on the control per-
formance. If the bound is selected too large, the sign function
(9) of the curbing controller will result in serious chattering phe-
nomena in the control efforts. The undesired chattering control
efforts will wear the bearing mechanism and might excite un-
where is a scalar variable designed as
stable system dynamics. On the other hand, if the bounds are
is the initial state of , and
selected too small, the stability conditions may be not satisfied.
It will cause the controlled system to be unstable. Therefore,
(10) a WNN is utilized in the following section to facilitate control
gain adjustment in real time for the TSC system.
in which and are positive constants. Note that, since the
function when , there is no reaching phase as IV. WNN SLIDING-MODE CONTROL SYSTEM
in the traditional sliding-mode control [5], [6]. Then, the total
sliding-mode control law is assumed to take the following form: The major advantage of the TSC system is its insensitivity to
parameter variations and external load disturbance in the whole
(11) control period. The selection of the control gain is related
1320
Fig. 1. (a) Total sliding-mode control system. (b) Wavelet-neural-network sliding-mode control system.
to the magnitude of uncertainties to keep the trajectory on the
sliding surface. However, the parameter variations of the system
are difficult to measure, and the exact value of the external
load disturbance is also difficult to know in advance for prac-
tical applications. Therefore, usually, a conservative control law
with large control gain is selected. Although using conserva-
tive constant control gain results in a simple implementation of
the TSC system, it will yield unnecessary deviations from the
switching surface causing a large amount of chattering [5], [6].
A general two-layer WNN [24], [26], which is comprised of
a product layer and an output layer, is adopted to adjust the con-
trol gain in the TSC system online. The inputs of the WNN
are and , in which is a time delay. The output
of the WNN is . A family of wavelets is constructed by trans-
lations and dilations performed on a single fixed function called
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 50, NO. 6, DECEMBER 2003
(a)
(b)
the mother wavelet. The first derivative of a Gaussian function,
, is adopted as a mother wavelet in this
study. It may be regarded as a differentiable version of the Haar
mother wavelet, just as the sigmoid is a differentiable version
of a step function, and it has the universal approximation prop-
erty [26]. The signal propagation and the basic function in the
product layer are introduced as
(19)
where denotes the inputs of the WNN; and and
are the translation and dilation variables in the product layer.
WAI AND CHANG: IMPLEMENTATION OF ROBUST WSC FOR INDUCTION SERVO MOTOR DRIVE 1321

(c)
Fig. 1. (Continued.) (c) Robust wavelet-neural-network sliding-mode control system.

Moreover, the single node in the output layer, labeled as , where , and are the same as given by (12), (13), and
computes the overall output as the summation of all input signals (23), respectively; is designed to compensate the approxi-
mation error of the WNN and is given as
(20) (25)

in which is the estimated value of . According to (9), (12),

where is the number of wavelets; is the connecting weight (13), and (24), the derivative of can be described as
between the product layer and the output layer; . More-
over, can be represented as (26)
Choosing a Lyapunov function candidate
(21)
(27)
where and .
By universal approximation theorem [24], [26], there exists an where and are positive constants;
optimal WNN in the form of (21) such that . Taking the derivative of the Lyapunov function, and
using (23), (25), and (26), one can obtain
(22)

where is an optimal weighting vector that achieves the min-

imum approximation error; and is the approximation error and
is assumed to be bounded by . Replacing by in (14),
the curbing controller can be represented as follows:

(23)
(28)

Therefore, the control law for the WSC system shown in If the adaptation laws for the WSC system are designed as
Fig. 1(b) is designed as
(29)
(24) (30)
1322 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 50, NO. 6, DECEMBER 2003

Fig. 2. Simulated results of TSC system. (a), (b) Tracking response and control effort due to periodic step command at Case 1. (c), (d) Tracking response and
control effort due to periodic step command at Case 2. (e), (f) tracking response and control effort due to periodic sinusoidal command at Case 1. (g), (h) Tracking
response and control effort due to periodic sinusoidal command at Case 2.

then Because is bounded, and is

nonincreasing and bounded, the following result is obtained:

(33)

Also, is bounded, so by Barbalat’s Lemma [5], [6], it can

be shown that . That is, as
.
From the aforementioned derivation of the WSC system, the
stability of the controlled system can be guaranteed. However,
(31) the adaptation laws for the WSC system shown in (29) and (30)
are always positive and tracking error introduced by any uncer-
Since is negative semidefi-
tainty will cause the and growth. It implies that the curbing
nite (i.e., ), which
controller and the compensator will result in serious chat-
implies , and are bounded. Let function
tering gradually with time . This results that the induction motor
, and
will eventually be saturated and the system may be unstable.
integrate function with respect to time
Thus, an RWSC system as shown in Fig. 1(c) is proposed in the
following section to alleviate the chattering effect induced by
(32)
the overlarge adaptation values.
WAI AND CHANG: IMPLEMENTATION OF ROBUST WSC FOR INDUCTION SERVO MOTOR DRIVE 1323

Fig. 3. Simulated results of TSC system with a narrow boundary layer (r = 0:001). (a), (b) Tracking response and control effort due to periodic step command at
Case 1. (c), (d) Tracking response and control effort due to periodic step command at Case 2. (e), (f) Tracking response and control effort due to periodic sinusoidal
command at Case 1. (g), (h) Tracking response and control effort due to periodic sinusoidal command at Case 2.

V. ROBUST WNN SLIDING-MODE CONTROL SYSTEM is assumed to be bounded by . Then, replacing by

In the RWSC system, a boundary layer is introduced into the in (34), the curbing control law can be rewritten as
TSC system, and a WNN is used to estimate the width of the (36)
boundary layer and the uncertainty bound. Now, replacing the
term by in (14), the curbing control where is the weighting vector in the output layer of the WNN.
law can be represented Thus, the control law for the RWSC system shown in Fig. 1(c)
is redesigned as follows:
(34)
(37)
where is defined as the width of the boundary layer and is
where , and are the same as given by (12), (13), and
a small positive constant; and . For the
(36), respectively; and is designed to confront the recon-
unknown uncertainty bound and the width of the boundary layer,
structed error of the WNN and is given as
the same prototype of the WNN shown in (20) is adopted to
estimate the term. By universal approximation theorem [24], (38)
[26], there exists an optimal WNN for such that
in which is the estimated value of . Define a Lyapunov
(35)
function candidate as
where is an optimal weighting vector that achieves the min-
imum reconstructed error; and is the reconstructed error and (39)
1324 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 50, NO. 6, DECEMBER 2003

where and are positive constants; and
. Taking the derivative of the Lyapunov function,
and using (9), (12), (13), (36), (37), and (38), one can obtain
Because the sign function does not exist in the curbing
controller and the compensator , there are no chattering
phenomena in the control efforts of the RWSC system. More-
over, the conventional projection algorithm is utilized to assure
the convergence of tuning parameters in this study. The ef-
fectiveness of the proposed control systems can be verified
by the following simulation and experimentation.

VI. NUMERICAL SIMULATION AND EXPERIMENTAL RESULTS

Curve-fitting technique based on step response of the rotor
position is applied to find the model of the drive system in the
nominal condition ( N m without parameter variations).
The results are
N m/A
N m s
N m s rad (47)
The parameters of the proposed control systems are given in the
following:
(40)

Since the narrow boundary layer is always selected to match the

requirement of stability in the traditional sliding-mode control
technique (i.e., ), the last term shown in (40) can be ig-
nored. Thus, the above equation can be approximated as
(48)
All the parameters in the proposed control systems are chosen to
achieve the best transient control performance in both simulation
(41)
and experimentation considering the requirement of stability.
Moreover, the fixed bound of lumped uncertainty can be
If the adaptation laws for the RWSC system are designed as
determined roughly owing to the limitation of control effort,
(42) and to the possible perturbed range of parameter variation
and external load disturbance. In addition, the WNN has four
(43)
wavelets at the product layer and one node at the output layer,
then and the initialization of the network parameters described in
[26] is adopted to initialize the parameters of the wavelets. The
effect due to the inaccurate selection of the initialized parameters
can be retrieved by the online parameter training methodology.
(44) The parameter adjustment process remains continually active
for the duration of the simulation and experiments runs.
Since is negative semidefi- A second-order transfer function with rise time 0.5 s is chosen
nite (i.e., , which as the reference model for the periodic step command
implies and are bounded. Let function
, and (49)
integrate function with respect to time
where is the Laplace operator; and and are the damping
ratio (set at one for critical damping) and undamped natural
(45)
frequency. When the command is a sinusoidal reference tra-
jectory, the reference model is set to be one. For the periodic
Because is bounded, and is step command the rise time, which is chosen by the designer
nonincreasing and bounded, the following result is obtained: according to the desired response, can be specified in the ref-
erence model to smooth the reference trajectory. Moreover, in
(46) the proposed control systems, without the second-order ref-
erence model the control effort at the beginning will be very
Also, is bounded, so by Barbalat’s Lemma [5], [6], it can large due to the tracking error in the control algorithm and
be shown that . That is, as result in oscillatory rotor position responses. In addition, two
. simulation cases including parameter variations and external
WAI AND CHANG: IMPLEMENTATION OF ROBUST WSC FOR INDUCTION SERVO MOTOR DRIVE 1325

Fig. 4. Simulated results of TSC system with a broad boundary layer (r = 10). (a), (b) Tracking response and control effort due to periodic step command at
Case 1. (c), (d) Tracking response and control effort due to periodic step command at Case 2. (e), (f) Tracking response and control effort due to periodic sinusoidal
command at Case 1. (g), (h) Tracking response and control effort due to periodic sinusoidal command at Case 2.

load disturbance in the shaft due to periodic commands are the simulated results, perfect tracking responses and robust
addressed as follows: characteristics can be obtained. However, the chattering phe-
nomena in the control efforts, which are depicted in Fig. 2(b),
Case (d), (f), and (h) are serious due to large control gain in the
curbing control law. Then, the TSC system with a boundary
N m occurring at s layer is applied to control the system for testing the influence
of different width of boundary layer. The responses of the rotor
Case
position and the associated control effort due to periodic step
and sinusoidal commands at Case 1 and Case 2 for set at
N m occurring at s (50) 0.001 and 10 are depicted in Figs. 3 and 4, respectively. When a
narrow boundary layer is chosen , perfect tracking
The control objective is to make the rotor position follow the responses and robust characteristics also can be obtained,
periodic step and sinusoidal reference trajectories under the oc- however, the chattering phenomena of the TSC system are only
currence of uncertainties. slightly reduced. Although the chattering phenomena can be
much reduced with a broad boundary layer , the poor
A. Simulation tracking response results under the occurrence of parameter
In the simulation, first the TSC system shown in Fig. 1(a) variation and external load disturbance. Therefore, the width of
is considered. The responses of the rotor position and the the boundary layer is difficult to determine, and is ordinarily
associated control effort due to periodic step and sinusoidal chosen as a compromise between the stability and the reduction
commands at Case 1 and Case 2 are depicted in Fig. 2. From of the chattering of the control effort.
1326 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 50, NO. 6, DECEMBER 2003

Fig. 5. Simulated results of WSC system. (a)–(c) Tracking response, control effort, and estimated bound of lumped uncertainty due to periodic step command at
Case 1. (d)–(f) Tracking response, control effort, and estimated bound of lumped uncertainty due to periodic step command at Case 2. (g)–(i) Tracking response,
control effort, and estimated bound of lumped uncertainty due to periodic sinusoidal command at Case 1. (j)–(l) Tracking response, control effort, and estimated
bound of lumped uncertainty due to periodic sinusoidal command at Case 2.
WAI AND CHANG: IMPLEMENTATION OF ROBUST WSC FOR INDUCTION SERVO MOTOR DRIVE 1327

Fig. 6. Simulated results of RWSC system. (a), (b) Tracking response and control effort due to periodic step command at Case 1. (c), (d) Tracking response and
control effort due to periodic step command at Case 2. (e), (f) Tracking response and control effort due to periodic sinusoidal command at Case 1. (g), (h) Tracking
response and control effort due to periodic sinusoidal command at Case 2.

The proposed WSC system shown in Fig. 1(b) is simulated

under the same cases to verify the effectiveness of the online
adjustment of lumped uncertainty bound by a WNN. The re-
sponses of the rotor position, the associated control effort, and
the estimated bound of lumped uncertainty due to periodic step
and sinusoidal commands at Case 1 and Case 2 are depicted
in Fig. 5. Good tracking responses and robust characteristics
can be obtained owing to the online adjustment of the lumped
uncertainty bound. However, the tracking error introduced by
any uncertainty will cause the estimated bound increase even to
infinity with time. This situation can be verified by observing
Fig. 5(c), (f), (i), and (l). Alhough the chattering amplitude of
the control effort at the beginning is smaller than the one in the
TSC system, the amplitude and chattering phenomenon of the
control effort increases gradually with the increasing of the esti-
mated bound of lumped uncertainty. Now, the proposed RWSC Fig. 7. Computer control drive system.
1328 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 50, NO. 6, DECEMBER 2003

Fig. 8. Experimental results of TSC system. (a), (b) Tracking response and control effort due to periodic step command at external disturbance condition.
(c), (d) Tracking response and control effort due to periodic step command at parameter variation condition. (e), (f) Tracking response and control effort due to
periodic sinusoidal command at external disturbance condition. (g), (h) Tracking response and control effort due to periodic sinusoidal command at parameter
variation condition.

system shown in Fig. 1(c) is applied to control the rotor posi-
tion of the induction servo motor drive for comparison. The re-
sponses of the rotor position and the associated control effort
due to periodic step and sinusoidal commands at Case 1 and
Case 2 are depicted in Fig. 6. From the simulated results, the
tracking errors converge quickly, and the robust control charac-
teristics under the occurrence of different reference trajectories,
parameter variation and external load disturbance can be clearly
observed. Moreover, the chattering phenomena in the TSC and
WSC systems disappear since the RWSC system possesses the
advantages of the boundary layer and the powerful learning ca-
pability of a WNN.
WAI AND CHANG: IMPLEMENTATION OF ROBUST WSC FOR INDUCTION SERVO MOTOR DRIVE 1329

Fig. 9. Experimental results of TSC system with a narrow boundary layer (r = 0:001). (a), (b) Tracking response and control effort due to periodic step command
at external disturbance condition. (c), (d) Tracking response and control effort due to periodic step command at parameter variation condition. (e), (f) Tracking
response and control effort due to periodic sinusoidal command at external disturbance condition. (g), (h) Tracking response and control effort due to periodic
sinusoidal command at parameter variation condition.

B. Experimentation field-oriented induction servo motor drive is depicted in Fig. 7.

The control algorithms are implemented using a Pentium
Some experimental results are provided here to further computer with 2-ms sampling interval. Two conditions are
demonstrate the effectiveness of the proposed control systems. given to test the robustness of the control systems. One is the
A block diagram of the computer control system for the external disturbance condition, which is the nominal inertia
1330 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 50, NO. 6, DECEMBER 2003

Fig. 10. Experimental results of TSC system with a broad boundary layer (r = 10). (a), (b) Tracking response and control effort due to periodic step command
at external disturbance condition. (c), (d) Tracking response and control effort due to periodic step command at parameter variation condition. (e), (f) Tracking
response and control effort due to periodic sinusoidal command at external disturbance condition. (g), (h) Tracking response and control effort due to periodic
sinusoidal command at parameter variation condition.

with 1-N m braking-load disturbance occurring at 5.4 s, and the
other is the parameter variation condition, that is the increasing
of the rotor inertia to approximately two times the nominal
value with 1-N m braking-load disturbance occurring at 5.4 s.
The experimental results of the tracking response and the
associated control effort using the TSC system due to periodic
step and sinusoidal commands at the two test conditions are
depicted in Fig. 8. From the experimental results, perfect
tracking responses and robust characteristics can be obtained
for the TSC system. However, the chattering phenomena in the
control efforts, which are depicted in Fig. 8(b), (d), (f), and (h),
are serious due to large control gain in the curbing control law.
WAI AND CHANG: IMPLEMENTATION OF ROBUST WSC FOR INDUCTION SERVO MOTOR DRIVE
Fig. 11. Experimental results of WSC system. (a)–(c) Tracking response, control effort, and estimated bound of lumped uncertainty due to periodic step command
at external disturbance condition. (d)–(f) Tracking response, control effort, and estimated bound of lumped uncertainty due to periodic step command at parameter
variation condition.
The undesired chattering control efforts will wear the bearing
mechanism and might excite unstable system dynamics. Then,
the TSC system with a boundary layer is implemented to
control the induction servo motor drive for testing the influence
of a different width of the boundary layer. The experimental
results of the tracking response and the associated control effort
due to periodic step and sinusoidal commands at the two test
conditions for set at 0.001 and 10 are depicted in Figs. 9
and 10, respectively. Although the chattering phenomena can
be much reduced with a broad boundary layer , the
degenerated tracking responses result under the occurrence of
parameter variation and external load disturbance. Therefore,
the width of the boundary layer is difficult to determine due to
the unknown uncertainties in practical applications.
The proposed WSC system is implemented under the same
conditions to verify the effectiveness of the online adjustment
of lumped uncertainty bound by a WNN. The experimental
results of the tracking response, the associated control effort,
and the estimated bound of lumped uncertainty due to peri-
1331
odic step and sinusoidal commands at the two test conditions
are depicted in Fig. 11. Good tracking responses and robust
characteristics can be obtained owing to the online adjustment
of the lumped uncertainty bound. However, the divergence
estimation shown in Fig. 11(c), (f), (i), and (l) results due to
the uncertainties in the practical applications. Although the
chattering amplitude of the control effort at the beginning
is smaller than the one in the TSC system, the chattering
phenomenon of the control effort increases gradually with
the increasing of the estimated bound of lumped uncertainty.
This results in the induction motor eventually being saturated
and the system may be unstable. Now, the proposed RWSC
system is implemented to control the rotor position of the
induction servo motor drive for comparison. The experimental
results of the tracking response and the associated control ef-
fort due to periodic step and sinusoidal commands at the two
test conditions are depicted in Fig. 12. From the experimental
results, the tracking errors converge quickly, and the robust
control characteristics under the occurrence of uncertainties
1332
Fig. 11. (Continued.)Experimental results of WSC system. (g)–(i) Tracking response, control effort, and estimated bound of lumped uncertainty due to periodic
sinusoidal command at external disturbance condition. (j)–(l) Tracking response, control effort, and estimated bound of lumped uncertainty due to periodic
sinusoidal command at parameter variation condition.
can be clearly observed. Moreover, the chattering phenomena
in the TSC and WSC systems disappear since the RWSC
system possesses the advantages of the boundary layer and
the powerful learning capability of a WNN. The experimental
results are very close to the results in the analysis. However,
the slight difference of the control efforts between simulation
and experimental results are induced by the uncertainties in
practical applications. Comparing the results of the RWSC
system with the TSC and WSC systems, the proposed RWSC
system is more suitable to control the rotor position of the
induction servo motor drive under the possible occurrence of
uncertainties.
VII. CONCLUSION
This paper successfully demonstrated the application of
the TSC, WSC, and RWSC control systems to control the
rotor position of an indirect field-oriented induction servo
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 50, NO. 6, DECEMBER 2003
motor drive. First, the description of the indirect field-oriented
induction servo motor drive was introduced briefly. Then, the
theoretical bases and the stability analyses of the proposed
control systems were described in detail. Moreover, simulation
and experimentation were carried out using periodic reference
trajectories to test the effectiveness of the proposed control
systems. Compared with the TSC and WSC systems, the
RWSC system was implemented without the knowledge of the
uncertainty bound and no chattering phenomenon was induced
in the control effort of the RWSC system.
The major contributions of this paper are: 1) the successful
development of the WSC system, in which a WNN is utilized
to adjust the uncertainty bound in the TSC system online;
2) the successful development of the RWSC methodology, in
which a boundary layer is introduced into the TSC system, and
a WNN is used to estimate the width of the boundary layer
and the uncertainty bound, and 3) the successful application
of the TSC, WSC, and RWSC systems to control the rotor
WAI AND CHANG: IMPLEMENTATION OF ROBUST WSC FOR INDUCTION SERVO MOTOR DRIVE 1333

Fig. 12. Experimental results of of RWSC system. (a), (b) Tracking response and control effort due to periodic step command at external disturbance condition.
(c), (d) Tracking response and control effort due to periodic step command at parameter variation condition. (e), (f) Tracking response and control effort due to
periodic sinusoidal command at external disturbance condition. (g), (h) Tracking response and control effort due to periodic sinusoidal command at parameter
variation condition.

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Rong-Jong Wai (M’00) was born in Tainan, Taiwan,
R.O.C., in 1974. He received the B.S. degree in
electrical engineering and the Ph.D. degree in
electronic engineering from Chung Yuan Christian
University, Chung Li, Taiwan, R.O.C., in 1996 and
1999, respectively.
Since 1999, he has been with the Department of
Electrical Engineering, Yuan Ze University, Chung
Li, Taiwan, R.O.C., where he is currently an Asso-
ciate Professor. He is also the Director of the Electric
Control and System Engineering Laboratory at Yuan
Ze University, and the Energy Conversion and Power Conditioning Laboratory
at the Fuel Cell Center. He is a chapter-author of Intelligent Adaptive Control:
Industrial Applications in the Applied Computational Intelligence Set (Boca
Raton, FL: CRC Press, 1998) and the coauthor of Drive and Intelligent Control
of Ultrasonic Motor (Tai-chung, Taiwan, R.O.C.: Tsang-Hai, 1999) and Elec-
tric Control (Tai-chung, Taiwan, R.O.C.: Tsang-Hai, 2002). He has authored
numerous published journal papers in the area of control system applications.
His research interests include power electronics, motor servo drives, mecha-
tronics, energy technology, and control theory applications.
Dr. Wai received the Excellent Research Award in 2000, and the Wu Da-Eu
Medal and Young Researcher Award in 2003 from the National Science Council,
R.O.C.
Jia-Ming Chang was born in Tainan, Taiwan,
R.O.C., in 1977. He received the B.S. degree
from Chung Yuan Christian University, Chung Li,
Taiwan, R.O.C., in 1999, and the M.S. degree in
electrical engineering from Yuan Ze University,
Chung Li, Taiwan, R.O.C., in 2001, both in electrical
engineering.
He is currently an Engineer in the Department
of LCD TV, BenQ Company, Tao-yuan, Taiwan,
R.O.C. His research interests include motor servo
drives, sliding-mode control, and intelligent control.