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A three-level cascade structure is proposed for the
control of a variable reluctance (VR) motor. In order to deal
with the highly nonlinear behavior of VR motors, the controlling
system includes two variable-structure controllers for current
and velocity loops as well as an intermediate torque-sharing
compensator. The intermediate compensator has been designed
by means of nonlinear optimization techniques in order to reduce
the torque ripple and to get the maximum motor velocity. The
proposed controller has been validated through extensive sim-
ulation experiments. The architecture of a prototype controller
is presented and the actual performance measured on a VR
motor is discussed in comparison with simulations. The results
show practical feasibility and good performance of the proposed
controller, which is also suitable for a very simple and quite
inexpensive fully hardware implementation
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