Patent ID: 6856111

Claim:
Method of controlling a speed of a load driven in rotation by an electric motor through an electromechanical drive train with little damping, comprising: measuring a real speed of the motor; and determining a torque actuation reference quantity Γ* of the motor based on the measured speed Ω m of the motor and a reference speed Ω L * of the load; said determining the torque actuation reference quantity Γ* comprising: calculating an estimated speed {circumflex over (Ω)} L of the load by an observer, inputs of which are the reference quantity Γ* and an innovation error represented by a weighted difference between the measured speed Ω m of the motor and an estimated speed {circumflex over (Ω)} m of the motor; calculating a difference between the reference speed Ω L * of the load and the estimated speed {circumflex over (Ω)} L of the load; and inputting the difference between the reference speed Ω L * of the load and the estimated speed {circumflex over (Ω)} L of the load to a robust CRONE-type non-integer order controller, the physical realization of which is provided by an integer order controller, obtained by approximation in the frequency domain.