Abstract

The ultralocal model of a plant expresses the behavior of the output variable in relation to the input without requiring any specific information about the plant. Replacing the conventional model of the system with an ultralocal model can effectively improve the robustness of the model predictive control (MPC) because all types of uncertainties that correlate with the system modeling are removed in the ultralocal model. This article proposes an integral sliding mode observer (ISMO)-based ultralocal model for the finite-set model predictive current control (FS-MPCC) of an induction motor (IM). The ISMO is constructed based on the Lyapunov theory to guarantee the stability of the proposed control method. Moreover, an analytical comparison is made between the proposed ISMO and the conventional extended state observer (ESO) in the application of the ultralocal model. This comparison shows that the stability of ESO depends on the unknown term of the ultralocal model. In contrast, the stability of the proposed ISMO does not rely on any terms of the ultralocal model. Experimental tests confirm that the proposed FS-MPCC method is practically applicable to the IM drive system. Also, it improves the robustness of the predictive method against model uncertainty.