In this work a controller for IMs is proposed. A continuous feedback is first applied to obtain a discrete time model in closed form. Then, on the basis of these exact sampled dynamics, a discrete time controller ensuring speed and flux modulus reference tracking is determined, making use of the sliding mode technique. The resulting controller is hence hybrid, in the sense that it contains both continuous and discrete time terms. It is shown how to implement such a hybrid controller using the so-called exponential holder, which is the only device to be implemented analogically, together with an analog integrator. Moreover, a discrete time reduced--order observer is designed for rotor fluxes and load torque estimation. The performance of the proposed controller is finally studied by simulation and experimental tests.
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