
Adaptive Control of Electrical Drives 25-11
e MRAS structure with the online tuned speed controller is demonstrated in Figure 25.10.
is control structure is general for the electrical drive system and can be adopted for AC or DC
motor drive, under the condition, that the torque control loop is designed to provide suciently fast
torque control, so it can be approximated by an equivalent rst-order term. If this control is ensured,
the driven machine could be AC or DC motor, with no dierence in the outer speed control loop
[ODS06,OS07]. Recently, instead of a classical PI speed controller, its neuro-fuzzy or sliding-mode
neuro-fuzzy versions ...