Intern
ati
o
n
a
l
Jo
u
r
n
a
l
of
P
o
we
r El
ec
tr
on
i
c
s
an
d D
r
i
v
e
S
y
stem
(I
JPE
D
S)
V
o
l.
11
, No
. 2, Jun
e
20
20
, pp
. 10
99
~1
108
I
SSN
:
208
8-8
6
9
4
, D
O
I:
10.
115
91
/i
jp
e
d
s.v
1
1
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.
p
p10
99-
1108
1
0
99
Jo
urn
a
l
h
o
me
pa
ge
: h
t
t
p
:/
/ijpe
d
s.
i
a
e
s
c
o
re.
c
o
m
Nov
e
l nonlinear contro
l structur
e for vector control of SPIM
drive using BS P
C
H
Ng
oc Th
uy
Ph
am
Departm
e
nt o
f
E
l
ec
tric
al
En
gin
e
e
r
in
g T
echno
lo
gy
, In
dus
tri
a
l U
n
iv
ersity
of
Ho
Chi
M
i
nh
City
,
Vi
etn
a
m
A
r
ticle In
fo
A
B
S
T
RAC
T
A
r
tic
le
h
i
st
o
r
y:
Rec
e
i
v
ed
Ap
r
5
,
20
19
Rev
i
sed
D
e
c
26
, 20
19
A
c
ce
p
t
ed
Jan
28
, 20
20
Th
is
pap
e
r
p
r
e
s
ents a
no
vel s
t
ru
ctu
r
e
co
mb
in
in
g
th
e
po
rt-con
tro
l
led
Ha
m
i
l
t
o
n
ia
n (PCH) a
n
d Ba
c
k
ste
p
pi
ng
(B
S)
nonli
n
ear cont
rol
for t
h
e vect
or
c
o
nt
rol
of t
h
e
si
x-p
h
a
s
e
in
duc
tio
n
m
o
to
r (SPIM)
. In
th
is n
e
w sc
he
me
,
t
o
imp
r
ov
e th
e ou
ter loo
p
’s
robu
st
nes
s
, the
BS
te
chn
i
q
u
e u
s
ing
th
e in
tegral
track
in
g erro
rs
actio
n
is
pro
p
o
s
e
d
in
th
e s
p
eed
a
n
d
flux
con
t
ro
ll
ers d
e
sign
.
Th
e
ad
van
t
ag
e o
f
th
is
p
r
op
os
ed
co
ntrol law
is
n
o
t
to
in
crea
s
e
the
comp
lexity
of
diff
eren
tia
l
e
quatio
n
resolu
tio
n
du
e
to
b
e
in
g
n
o
t
in
cre
a
sed
s
y
stem
s
t
ates
nu
mbers.
To
en
hance
mor
e
the
performan
ce
o
f
S
P
I
M
drives
(S
P
I
M
D
),
port-
cont
rol
l
ed Ham
ilt
onian
(PC
H
)
s
c
heme
i
s
used
in t
h
e inner current
loop
con
t
ro
ll
ers
.
In
th
is
p
r
op
os
ed P
C
H
curren
t
co
n
t
rolle
r
, th
e
s
t
ab
iliz
ation
o
f
con
t
ro
ll
er
is
ach
ieved
via
sy
ste
m
pas
s
iv
it
y. In
that, the
i
n
tercon
nection and
damp
in
g
matr
ix
fun
c
tions
of P
C
H sy
stem
are
s
h
aped
so
that
the p
h
y
s
ica
l
(Hamilton
i
an)
s
y
s
t
em stru
cture
is
pres
erved
a
t
th
e clos
ed loo
p
lev
e
l an
d
the
clo
s
ed
lo
op
en
er
gy
fun
c
tion
is
e
q
u
a
l to
th
e d
i
ff
e
r
ence
betw
een
t
h
e p
h
y
s
ic
al
energ
y
o
f
the
s
y
s
t
em
an
d
the
ene
r
gy
s
u
p
p
lied by
th
e
co
ntro
ll
er. Th
e
p
r
op
osed
c
o
nt
rol de
si
gn is ba
se
d on
c
o
m
b
i
n
a
t
io
n
P
C
H
an
d B
S
te
c
h
n
i
q
u
e
s
im
pro
v
e
sign
ific
a
n
tly
p
e
rformanc
e
an
d
ro
bus
tn
ess
.
Th
e pro
p
o
s
ed s
p
eed
con
t
rol
sc
he
m
e
i
s
va
li
d
a
t
e
d
b
y
Mat
l
ab-Simul
ink software.
Ke
yw
ords:
Ba
ckst
ep
pi
n
g
c
ont
rol
H
i
gh
a
ccu
r
acy
No
nl
ine
a
r
c
ont
rol
Port
co
nt
rol
e
d ha
mil
t
i
ni
an
S
i
x
p
h
a
se
induc
tio
n
mo
t
o
r
Th
is
is a
n
o
p
en
acces
s a
r
ticle
un
d
e
r the
C
C
B
Y
-SA
licens
e
.
Corres
p
o
n
din
g
A
u
t
h
or:
N
g
o
c
Thuy
Pham
,
Depa
rt
me
nt o
f
Ele
c
t
r
i
c
a
l
Engi
ne
eri
n
g
T
e
c
h
n
o
l
o
gy
,
I
ndu
str
i
a
l
Un
ive
r
s
ity
o
f
Ho
C
h
i M
i
nh
Ci
ty
,
12
N
g
uye
n Va
n Ba
o,
Ph
ro
n
g
4
,
G
o
Vap
,
Ho
Chi
M
i
nh
7
1
4
0
6
, Vi
et
nam
.
Emai
l:
ngoc
ph
am1
0
2
0
@
g
ma
i
l
.c
om
1.
IN
TR
O
DUCTION
In
rece
nt dec
a
d
es,
t
h
e mult
i
pha
se
m
o
to
r d
r
i
v
es
a
r
e wide
l
y
use
d
in
m
u
c
h
a
ppl
ic
at
i
ons due
to
t
h
ei
r
i
nhe
re
n
t
fe
at
u
r
e
s
s
u
ch
a
s
hig
h
e
r
t
o
rq
ue
de
n
s
i
t
y, t
h
e
rot
o
r
har
m
o
n
i
c
c
u
rre
n
t
a
nd t
o
rq
ue
ri
pple
a
r
e
sma
l
l
e
r, t
h
e
st
ato
r
cop
p
e
r
lo
ss r
e
du
c
e
, the
c
u
rr
en
t
st
re
ss i
n
th
e semic
o
ndu
c
t
or
sw
it
c
h
i
n
g
d
e
v
i
ce
s
re
d
u
ce
p
r
op
or
tio
n
all
y
w
i
t
h
t
h
e nu
mbe
r
o
f
th
e mo
t
o
r
ph
a
s
e [1
].
Th
e
s
e
mu
lti
p
h
a
se mo
tor
dr
iv
es ar
e
o
f
te
n
c
ons
id
er
ed
i
n
t
h
e
h
i
gh
p
o
w
e
r ap
p
l
ic
a
t
io
n
s
su
c
h
as au
to
mo
tiv
e
,
a
e
ro
spa
c
e
,
m
ilit
ar
y
a
n
d
n
u
c
le
a
r
,
l
o
c
o
mo
tiv
e
trac
tio
n
,
el
ec
tr
ic
al
sh
i
p
pro
pul
si
o
n
,
B
e
si
des, t
h
e m
u
l
t
i
pha
se
m
o
t
o
rs
wo
rk
ver
y
re
l
i
a
b
ly
an
d
has
hi
g
h
faul
t
t
o
l
e
ra
nc
e so
t
h
ese
m
o
t
o
r are
eve
n
c
onsi
d
ere
d
i
n
t
h
e a
p
pl
i
cat
i
ons
re
qui
ri
ng s
m
al
l
p
o
w
e
r
, t
h
e
hi
gh rel
i
a
b
il
i
t
y
a
n
d
faul
t t
o
le
ra
nc
e.
Wit
h
t
h
ese
moto
rs, w
h
e
n
are lost
o
n
e
or
mo
re pha
ses
t
h
ey ca
n
st
il
l
pro
v
i
d
e si
gni
fi
ca
n
t
el
ec
troma
g
ne
t
i
c
t
o
rq
ue
t
o
c
ont
i
nue
th
e
mo
t
o
r
dr
ive
op
era
t
i
o
n. Amon
g
m
a
n
y
t
y
p
e
s
of m
u
lti-ph
a
s
e
mo
to
rs,
SP
IM
i
s
o
n
e
o
f
t
h
e
mo
s
t
w
i
d
e
ly
u
s
ed
m
u
lt
i
-
p
h
as
e
m
o
to
rs
[2
].
As t
h
e t
h
ree
-
p
h
ase i
n
d
u
ct
io
n
moto
r, whe
n
u
n
ce
rt
ai
nti
e
s a
n
d
di
stur
ba
nce
s
a
r
e a
p
p
r
eci
abl
e
, tra
d
i
t
i
onal
cont
rol
t
e
c
h
ni
que
s
usin
g
P
I
D c
o
nt
rol
for
S
P
I
M
d
r
i
v
e
s
a
r
e
not
abl
e
t
o
gua
ra
nte
e
opt
i
m
al
pe
rfo
rma
n
ce
. T
o
ove
rc
ome
t
h
e
s
e dra
w
ba
c
k
s t
h
e n
onli
n
ea
r c
o
nt
rol
te
ch
ni
q
u
e
s
ha
ve
be
en
fo
l
l
ow
ed
, s
u
c
h
a
s
, for i
n
sta
n
ce,
li
nea
r
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
: 2
088
-8
6
94
I
n
t
J Po
w El
ec
&
Dr
i
S
y
st
, Vol.
11
,
No
.
2
,
Jun
e
2
020
: 10
99
–
1
1
08
1
100
out
put
fee
d
b
a
c
k
co
nt
rol
[3, 4],
S
l
idi
n
g
m
ode
(S
M
)
[5
-7
], Ba
ckst
ep
pi
n
g
c
o
n
t
rol
(BS
)
[
8
-1
2
]
,
F
u
z
z
y
Lo
gic
(F
L
)
cont
rol
[1
3-1
4
] ne
u
r
al
net
w
o
r
ks (
N
N) c
ont
rol
[1
5
-
1
7
]
, p
r
e
d
ic
ti
ve
co
nt
rol,
[1
8], Ha
mi
lt
oni
an c
o
nt
rol
[1
9-
24].
Am
on
g t
h
ese
t
e
chni
que
s, t
h
e
BS
is
o
n
e
o
f
t
h
e m
o
st c
o
n
c
ern
e
d te
c
h
ni
q
u
es
due
to
i
t
s syst
e
m
at
i
c
an
d
re
c
u
rsi
v
e
d
e
sign me
thodo
l
o
g
y
f
o
r non
lin
e
a
r
fe
edb
a
ck con
t
ro
l. BS
ca
n
b
e
u
s
ed t
o
f
o
rc
e
a
no
n
line
a
r
sy
ste
m
to
b
e
h
a
ve
l
i
ke
a
li
nea
r
sy
ste
m
i
n
a ne
w
set
of c
o
o
r
di
na
te
s. Be
side
the
a
dva
nt
age
s
su
ch as t
h
e
fl
exi
b
i
l
i
t
y
to ret
a
i
n
i
ng t
h
e
u
s
e
f
u
l
n
o
n
l
i
n
e
a
r
itie
s
a
n
d
e
ffec
tiv
e
l
y
p
u
r
s
u
i
ng
st
a
b
l
e
a
n
d
t
r
ac
k
i
ng
g
o
a
ls,
t
h
e
b
e
st
ma
j
o
r d
i
sa
dv
an
ta
g
e
s
o
f
BS
t
echni
q
u
e a
r
e
the
det
a
il
ed
a
n
d ac
cu
ra
t
e
i
n
fo
rmat
i
o
ns ab
o
u
t
syste
m
dyna
mi
c
s
to
be
re
q
u
ire
d
w
h
e
n
de
si
gni
n
g
t
r
adi
t
i
ona
l
B
S
. To
o
v
erc
o
me
t
h
i
s
dra
w
b
a
c
k
man
y
st
rat
e
gi
e
s
ha
ve
bee
n
p
r
op
ose
d
,
i
n
[25
]
the
a
u
th
o
r
s
prop
ose
d
a ne
w
B
S
c
o
n
t
rol sc
he
me
usi
ng a
d
y
n
ami
c
al
moto
r
mo
de
l
wi
t
h
the
un
k
n
o
w
n
of t
h
e
d
a
mpi
n
g c
o
e
f
fi
c
i
ent
,
mo
t
o
r in
e
r
tia
,
l
o
a
d
t
o
rq
u
e
a
n
d
th
e u
n
cer
tai
n
ty
o
f
ma
ch
in
e pa
ra
me
te
rs.
Th
e
te
sts
car
ri
ed ou
t w
ith
ou
t
app
l
y
i
ng
a
l
o
ad t
o
r
q
ue
.
Ho
wev
e
r, the
p
e
rfor
m
an
c
e
of t
h
e
t
r
a
c
k
i
ng
t
h
e
r
e
fer
e
n
c
e sp
e
e
d
a
n
d t
h
e
ro
t
o
r sp
eed
r
i
pp
l
e
ar
e
n
o
t
go
o
d
, an
d
t
h
i
s
pro
posal
al
so
do
e
s
n
o
t e
l
i
m
i
n
a
t
e c
o
m
p
l
e
t
e
l
y
t
h
e
l
o
a
d
t
o
rq
ue
di
stu
r
bance
.
In
[
26,
2
7
],
n
e
w B
S
te
c
h
n
i
qu
e
w
a
s
p
r
op
o
s
e
d
to b
o
th
th
e con
t
r
o
l
a
n
d
sp
e
e
d
estim
ato
r
.
D
u
e t
o
i
n
cr
ea
se
d sy
ste
m
sta
t
e n
u
mb
er so
t
h
i
s
p
r
op
o
s
a
l
g
i
v
e
s
b
e
tt
er
r
e
su
lt
s, bu
t it al
so
m
a
k
e
s i
n
c
r
e
a
s
i
n
g th
e
c
a
l
c
u
l
a
t
i
on
e
f
fo
rt
a
n
d
ti
me
for
th
e
p
r
oc
ess
o
r.
In
[10
]
pro
p
o
s
ed a
B
S
desi
g
n
me
t
hod
for
bo
t
h
t
h
e c
o
nt
rol
a
n
d
o
b
se
rve
r
,
b
y
a
ddi
ng
t
h
e
i
n
te
gral
e
r
r
o
r t
r
a
c
k
in
g
c
o
mp
on
en
t to
in
c
r
ea
se
th
e stab
i
lity
o
f
th
e
t
r
a
n
smi
ssi
o
n
sy
s
t
e
m
, th
i
s
me
th
od
fo
r
g
ood
dyn
a
m
ic
re
sp
on
s
e
,
p
r
ec
is
e co
n
t
r
o
l
s
.
Ho
w
e
v
e
r,
t
h
e to
rq
u
e
ri
pp
le
i
s
r
e
cor
d
ed
as q
u
i
t
e
la
rg
e,
t
h
e p
e
rfor
m
an
c
e
a
t
lo
w
sp
ee
d
ra
nge
and
rege
nera
ti
ng
mo
des
n
o
t
re
port
e
d
i
n
[1
0].
F
r
o
m
t
h
e
ab
o
v
e a
n
al
y
s
i
s
i
t
i
s
e
a
s
y
t
o
se
e t
h
a
t
t
h
e B
S
c
o
ntr
o
l
was
di
ffi
c
u
l
t
t
o
obt
a
i
n
sa
ti
sfa
c
t
o
ry
co
ntrol
pe
rformanc
e
w
h
en
u
s
ing i
nde
pe
n
d
e
n
tl
y, e
s
pe
ci
al
l
y
i
n
t
h
e
c
a
se
s a
p
pl
i
e
d
t
o
c
o
nt
rol
t
h
e
no
nl
i
n
ea
r
syste
m
s.
Th
ere
f
o
r
e,
to
s
o
lve
t
h
is
pr
o
b
le
m,
be
si
d
e
c
ont
in
ue
t
o
i
m
p
r
o
v
e
B
S
st
ra
te
gy,
anot
her a
p
p
r
oa
ch
has
c
o
nce
n
t
r
a
t
e
d
t
o
t
h
e c
o
mp
osit
e c
ont
ro
l
st
ra
te
g
y
c
o
m
b
i
n
i
n
g
BS
met
h
o
d
wit
h
othe
r c
ont
r
o
l
met
h
o
d
s
,
s
u
c
h
a
s
sli
d
i
n
g
m
o
de
(S
M) c
ontr
o
l
[2
8-3
0
],
ne
uro
n
net
w
ork
(N
N) [
3
1
-
3
5
],
fuzz
y
l
o
g
i
c
s
y
st
e
m
(F
LS
) [3
6, 3
7
]. In thi
s
pa
p
e
r,
t
h
e
a
u
t
h
o
r
prop
oses a
ne
w
com
b
i
n
e
d
c
ont
rol st
ruct
u
r
e
:
The BS
c
o
nt
ro
l
l
e
r
is
appl
i
e
d
in
o
u
t
e
r s
p
ee
d c
l
ose
d
l
o
o
p
c
ontr
o
l,
t
h
e
B
S
-base
d
co
nt
rol
l
e
r
de
s
i
gn
wi
t
h
t
h
e i
n
t
e
g
r
a
l
er
ro
r t
r
ac
kin
g
c
o
mp
on
en
t a
d
d
e
d
to
i
m
p
r
o
v
e
i
t
s su
st
ain
a
b
ility
.
In
add
i
t
i
o
n
,
t
o
fu
r
t
h
e
r
en
h
a
n
c
e
the
SPIM
D
p
e
rfo
rman
c
e
,
the
aut
h
ors
p
r
o
p
o
s
e
d a
ne
w
st
ruc
t
ure c
o
m
b
i
n
in
g
B
S
a
n
d
P
C
H
,
a pr
o
p
os
e
d
P
C
H for i
n
ner c
u
rre
n
t c
o
n
t
rol
l
o
op t
o
i
m
pro
v
e
performa
n
ce a
n
d
e
n
sure
t
h
e
st
abi
l
i
t
y, a
c
c
u
rac
y
s
p
ee
d res
p
on
se
for t
h
e
dri
v
e
syst
em, en
ha
nc
e t
h
e
ro
b
u
st
n
e
ss
fo
r
the
se
nsi
t
i
vi
t
y
of
c
h
an
ges
in
ma
chi
n
e
pa
ra
met
e
rs,
l
o
a
d
di
st
urbanc
e
.
The
effect
i
v
e
n
ess
of
t
h
is
pro
pose
d
c
o
ntr
o
l str
u
ct
u
r
e i
s
verifie
d
thro
ugh
MA
TLA
B
/
Simu
li
n
k
.
The
pape
r i
n
cl
ude
s fi
ve
se
ct
i
ons, t
h
e m
o
de
l
of
the
S
P
I
M
and t
h
e
SP
IM d
r
i
v
es a
r
e
prese
n
t
e
d i
n
sect
i
on
2. S
e
c
t
i
on
3
pre
s
e
n
t
s
t
h
e B
S
_
P
CH c
ont
roll
er
.
The si
mula
ti
o
n
re
sult
s a
n
d
di
scuss
are
give
n
i
n
Se
ct
i
o
n
4, an
d t
h
e
co
nc
lu
di
ng
i
s
p
r
ese
n
t
e
d i
n
Se
ct
ion
5
.
2.
M
O
D
E
L
OF SP
IM DR
IV
ES
The
s
y
st
em
i
n
cl
udes
t
h
e
si
x
-
p
h
ase
i
n
d
u
c
t
i
o
n
m
o
t
o
r fe
d
b
y
a
six
-
pha
se
V
o
lt
age
S
o
urce
Inve
rt
e
r
(
SPV
SI
)
a
n
d
a D
C
lin
k
.
A
d
i
a
g
ram of
th
e SPIM
D
is i
l
lu
st
rate
d
a
s
in
F
i
gur
e
1
.
In
th
i
s
p
a
rt,
th
e
V
ecto
r
S
p
a
ce
Dec
o
mp
osi
t
i
o
n
(V
S
D
) t
e
c
h
ni
que
a
l
so
has
appl
i
e
d
as i
n
[1
8
]
, t
h
e
o
r
i
g
i
n
al
si
x
-
di
me
ns
iona
l s
p
ac
e
of t
h
e
machi
n
e
i
s
t
r
a
n
sfor
me
d int
t
h
re
e t
w
o
-
di
me
nsio
na
l o
r
th
o
g
onal
s
u
bs
pace
s
in t
h
e st
at
i
o
n
a
ry
refe
re
nc
e
frame
(D
-Q
),
(x -
y
)
a
n
d
(zl
-
z
2
). T
h
i
s
t
r
ans
f
o
r
ma
ti
on
i
s
obt
ai
ne
d
by
mea
n
s
of 6
x 6 tra
n
s
f
o
r
mat
i
on mat
r
i
x
[
2
].
⎣
⎢
⎢
⎢
⎢
⎢
⎢
⎢
⎡
1
√
√
0
0
√
√
1
1
√
√
0
0
√
√
1
10
1
0
1
0
01
0
1
0
1
⎦
⎥
⎥
⎥
⎥
⎥
⎥
⎥
⎤
(1)
To
b
u
il
d
SP
IM
m
odel
,
s
o
me
ba
sic
a
ssu
mpt
i
ons
sh
oul
d be
made
. Fi
rst
,
t
h
e
w
i
ndi
ngs
a
r
e
seen a
s
t
o
be
sinus
oi
dal
di
st
ri
b
u
ti
on
,
t
h
e
mut
u
al
l
e
a
k
ag
e
i
nduc
t
a
nce
s
,
t
h
e
ma
gnet
i
c
sa
turat
i
on, a
n
d t
h
e
c
o
re
l
o
s
s
e
s
are
negl
ec
te
d. T
h
e mat
h
e
quat
i
ons o
f
SP
IM be
w
r
i
t
t
e
n
i
n
t
h
e sta
t
iona
ry refe
re
n
c
e
fra
m
e as
0
(2)
Evaluation Warning : The document was created with Spire.PDF for Python.
In
t J
P
o
w
Elec &
Dri Sy
st
I
SSN
: 2
0
8
8
-8
69
4
N
o
vel
no
nl
i
n
ea
r
c
o
ntrol
st
ruct
ure f
o
r vec
to
r
cont
rol
of SP
I
M
driv
e usi
n
g
BS PC
H
(N
g
o
c
Th
uy
Ph
a
m
)
1
101
w
h
ere: [V]
,
[I], [R],
[
L
] an
d
[Lm] ar
e
v
o
l
ta
ge,
c
u
r
r
en
t, resi
s
t
an
t,
s
e
lf
a
nd mu
tu
al
indu
ctan
ce
v
e
cto
r
s
,
r
e
spec
ti
vel
y
.
P
i
s
di
ff
e
r
e
n
ti
a
l
ope
r
a
t
o
r. S
u
bs
c
r
i
p
t r a
n
d s
r
e
l
a
t
e
d t
o
t
h
e
rot
o
r an
d sta
t
o
r
r
e
s
i
st
anc
e
re
spe
c
t
i
v
el
y.
Si
n
c
e
the
r
o
to
r
i
s
squi
rre
l
cage
,
[Vr] i
s
e
q
u
a
l
t
o
z
e
ro. T
h
e
e
l
e
c
t
r
omec
ha
ni
cal
ener
gy
con
v
e
r
sio
n
o
n
ly
t
a
kes
p
l
a
c
e
i
n
th
e DQ
su
bsy
s
tem. Th
e
t
o
rq
u
e
e
qua
tio
n
c
a
n
b
e
w
r
itte
n
as
fo
llow
s
:
3
(3
)
whe
r
e:
res
p
ec
t
i
ve
ly,
T
e
, n
p
,
Ψ
rD,
Ψ
rQ
, i
rD,
i
rQ
a
r
e th
e e
l
ec
tr
oma
g
n
e
tic
torq
u
e
th
a
t
g
e
n
e
ra
te
d
b
y
th
e
mo
tor
,
nu
mb
er
of p
a
irs
o
f
p
o
l
e
s
,
th
e ro
tor
flux
, ro
to
r c
u
rr
en
t
,
r
e
sp
ec
ti
v
e
l
y
.
Fi
gu
re
.
1
.
A
S
P
I
M
dri
v
e
ge
n
e
ra
l
di
a
g
ra
m
A
s
yo
u kn
ew
,
(
x
- y)
and
(
z
l
-
z
2) sub
s
p
a
c
e
p
r
od
u
c
ed
lo
sses, th
e el
ec
tr
ome
c
h
an
ic
a
l
c
o
n
v
er
sion
ju
st
t
a
ke
s
pl
ac
e i
n
t
h
e D
-
Q s
ubs
p
a
ce
[
2
]
.
The
r
ef
o
r
e
,
t
h
e
co
nt
r
o
l
i
s
ba
se
d o
n
det
e
rmini
ng t
h
e
a
ppli
e
d
v
o
l
t
a
g
e
in t
h
e
DQ
ref
e
re
nce
c
o
o
r
di
nat
e
s.
T
h
en
t
h
e
S
P
I
M
c
ont
rol
t
e
c
h
niq
u
e
i
s
si
mil
a
r
t
o
the
cl
assi
ca
l t
h
re
e
pha
se
i
nduc
t
i
on
mo
tor
.
Th
e
con
t
ro
l
for
the
mo
tor
in
th
e
sta
t
io
n
a
r
y
r
e
fe
r
e
nc
e
c
oor
d
i
n
a
te
s is
d
i
f
f
i
cu
lt,
eve
n
f
o
r a
th
r
ee
p
h
a
se
I
M
,
so
t
h
e
t
r
a
n
sf
or
ma
t
i
o
n
of
S
P
I
M
mo
de
l
i
n
a
d
q
r
o
t
a
t
i
ng r
e
fe
re
nc
e c
o
or
di
nat
e
s t
o
o
b
t
ai
n c
u
r
r
e
n
ts
w
i
th
dc
co
mp
on
en
ts i
s
n
e
c
e
ssar
y
,
a tr
a
n
sfo
r
m
a
ti
on
m
a
tr
i
x
mu
st b
e
u
s
ed
to
r
e
pr
esen
t
th
e
st
ati
o
n
a
ry
re
f
e
r
e
n
c
e
c
o
o
r
di
n
a
t
e
s (
D
Q) i
n
t
h
e
dy
na
mi
c (
d
q
)
rot
a
t
i
ng
re
f
e
r
e
nce
c
o
o
r
dina
te
s. T
h
i
s
ma
tr
ix
is
give
n
(4
)
whe
r
e
δ
r
is
t
h
e
ro
t
o
r
a
ngu
la
r p
o
s
it
ion
re
f
e
r
r
e
d
to
th
e
st
at
o
r
as
show
n
in
Fi
g
u
re
1
.
FO
C
i
s
o
n
e of
the
most
co
m
m
o
n
c
ont
rol
me
t
hods,
U
n
l
i
ke
t
h
e
sca
l
a
r
c
o
n
t
rol
,
FOC
ca
n
i
m
pr
o
v
e
t
h
e
st
at
i
c
and d
y
n
a
mi
c be
ha
vi
or
o
f
S
P
I
M.
F
O
C
c
ont
rol
can
cont
rol
t
o
r
q
ue
and
ma
g
n
et
ic
f
l
u
x
se
par
a
t
e
l
y
a
s
t
h
e
c
ont
r
o
l
wa
y t
o
D
C
m
o
to
r
.
I
n
t
h
at
,
the
el
ec
tr
oma
gne
t
i
c
to
r
que
wi
ll
be
co
nt
r
o
ll
e
d
by t
h
e
i
s
q
st
at
or
c
u
r
r
e
nt
co
mp
on
en
t,
t
h
e
ro
to
r
flu
x
w
ill
b
e
c
o
n
t
ro
lle
d
b
y
th
e
i
s
d
s
t
at
or
cu
rr
e
n
t
c
o
mpo
n
e
n
t
. We
h
a
ve
:
0;
;
Usi
n
g (
1
)
a
n
d
(
4
)
,
the
ne
w
d
y
n
ami
c
s mo
del
of
m
o
tor
i
s
de
sc
ri
be
d by
t
h
e
s
p
a
ce
vect
o
r
di
f
f
e
r
e
n
t
i
a
l
e
qua
t
i
ons
⎩
⎪
⎪
⎨
⎪
⎪
⎧
(5
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
: 2
088
-8
6
94
I
n
t
J Po
w El
ec
&
Dr
i
S
y
st
, Vol.
11
,
No
.
2
,
Jun
e
2
020
: 10
99
–
1
1
08
1
102
Whe
r
e,
1
;
;
;
;
The
el
ec
tr
oma
g
ne
t
i
c
t
o
rque
a
n
d
t
h
e
sl
idi
n
g f
r
eq
ue
nc
y
a
r
e
e
x
p
r
e
s
se
d as
fol
l
ows
(6)
(7)
3.
THE
PROPOSED BS_
P
C
H
CO
T
R
OLLER
FOR V
E
C
T
OR
C
O
N
T
ROL OF S
P
IM DRI
VES
3.1. Th
e
pro
p
osed B
S
c
o
ntr
o
ll
e
r
f
o
r ou
te
r
sp
ee
d c
o
ntr
o
l
an
d
r
o
tor
fl
u
x
loop
s
Th
e
pu
rpo
s
e of
t
h
is
st
u
dy i
s
t
o
d
e
sign
a
simp
le
c
o
n
t
ro
l
law
bu
t for
h
i
gh
dy
n
a
mic
and
es
ta
b
lish
i
n
g
perfo
rma
n
ce
,
e
l
i
m
i
n
a
t
ing
l
o
a
d
d
i
st
urba
nc
e a
n
d
effect
of
mot
o
r pa
ramet
e
r vari
a
t
i
o
ns. The
i
n
fl
uence
from
t
h
e
moto
r
para
met
e
r va
ria
t
i
o
n
s
a
n
d
t
h
e l
o
ad t
o
rque
di
st
u
r
banc
e
s
a
r
e si
gni
fi
ca
nt
ly re
d
u
c
e
d
w
h
en
ad
di
ng a t
r
ac
kin
g
e
rro
r in
te
gr
at
io
n in
to th
e
B
S
sp
e
e
d
con
t
ro
l
l
er
d
e
sign
a
n
d
upd
a
t
e
th
e
r
o
t
o
r r
e
si
stance
fo
r B
S
c
o
nt
ro
l
.
BS
t
echni
q
u
es
a
r
e
a
syst
e
m
a
t
i
c
a
n
d
re
c
u
rsi
v
e
m
e
t
h
o
d
fo
r
sy
nt
hesi
zi
n
g
no
nli
n
ea
r co
nt
rol
ru
l
e
s. T
h
e
pe
rfo
r
manc
e
and
st
abi
l
i
t
y
o
f
S
P
I
M
dri
v
es a
r
e e
n
sure
d ac
c
o
rdi
n
g t
o
Lya
p
uno
v t
h
eo
ry
[2
]. D
u
ri
n
g
t
h
e
d
e
sign
p
r
oc
ess,
e
a
c
h
ste
p
w
i
l
l
ha
ve
virtua
l
co
mma
nds
c
r
ea
te
d
t
o
ens
u
re
t
h
e
co
n
v
er
ge
nce
of t
h
e su
bsyst
e
m.
A
s
rot
o
r flu
x
a
n
d s
p
ee
d
are
t
h
e
t
r
ac
kin
g
obje
c
t
i
ve
s
,
th
e
t
r
a
c
ki
n
g
er
ro
rs
i
s
de
fi
ned
a
s
∗
′
∗
∗
′
∗
(8)
Th
e e
r
ro
r
dyn
ami
c
a
l
equ
a
ti
o
n
s
a
r
e
.
∗
.
3
2
′
∗
.
∗
.
′
∗
(9)
Th
e
Ly
ap
uno
v f
u
n
c
t
i
on
is d
e
f
i
n
e
d a
s
,
(10)
Di
ffe
re
nt
i
a
t
i
ng
V
.
,
.
.
∗
.
′
∗
∗
.
∗
′
∗
(11)
whe
r
e:
, k
ω
, k
Ѱ
a
r
e
al
ways
posi
t
i
v
e
desi
g
n
c
o
nst
a
n
t
s det
e
r
m
i
n
i
n
g
t
h
e
d
yna
mi
cs
of
cl
ose
d
l
o
o
p
.
To
V'
<0,
t
h
e c
u
rrent
st
abi
l
i
z
ing
virt
ua
l co
mma
n
d
s are c
hose
n
∗
1
∗
.
′
∗
∗
∗
.
′
∗
(12)
We
obt
ai
n
.
,
0
(13)
Th
e s
e
le
c
t
ed
vir
t
u
a
l st
ato
r
c
u
r
r
en
t c
o
m
pon
e
n
t
s
in (1
2)
are to
sat
i
sfy
t
h
e c
o
n
t
ro
l ob
j
e
c
t
iv
es i
n
th
e
o
u
t
er
loop
and th
ey
al
so
a
r
e
u
s
e
d
a
s
r
e
f
e
renc
es
v
a
l
u
e
s
pr
ov
id
ed
t
o
n
e
x
t
in
n
e
r
l
o
op wh
en
d
e
si
gn
ing th
e P
C
H
cont
rol
l
e
r.
E
q
. (1
2) ca
n
be
ex
pre
sse
d
a
s
Fi
g
u
re
2
.
Evaluation Warning : The document was created with Spire.PDF for Python.
In
t J
P
o
w
Elec &
Dri Sy
st
I
SSN
: 2
0
8
8
-8
69
4
N
o
vel
no
nl
i
n
ea
r
c
o
ntrol
st
ruct
ure f
o
r vec
to
r
cont
rol
of SP
I
M
driv
e usi
n
g
BS PC
H
(N
g
o
c
Th
uy
Ph
a
m
)
1
103
Fi
gu
re
2.
The
vir
t
ua
l
i
nput
s i
s
q a
n
d i
s
d
3.
2.
T
h
e
i
nne
r curr
ent
l
o
op con
t
r
o
l
l
ers us
i
n
g P
C
H
A
PCH sy
st
em w
ith
d
i
ss
ip
at
ion
is a
rep
r
es
e
n
tat
i
o
n
o
f
th
e
fo
rm:
(
14)
whe
r
e
0
rep
r
e
s
e
n
t
s
t
h
e
di
ssipa
t
i
on.
T
h
e
i
n
t
e
r
c
on
nec
t
i
o
n
st
ru
c
t
ur
e
i
s
c
a
p
t
u
r
e
d i
n
ma
tr
ix
g
(
x
) a
nd
th
e
sk
ew
sy
mme
tr
ic
ma
tr
ix
,
H
(
x
) i
s
t
h
e t
o
t
a
l
store
d
e
n
erg
y
fu
nct
i
o
n of t
h
e syst
em. The st
at
e
ve
ct
o
r
s,
i
n
p
u
t
a
n
d
o
u
t
p
ut
vec
t
or
s
ar
e
de
fi
ne
d
a
s
f
o
l
l
o
ws,
res
p
e
c
t
i
ve
ly
ℎ
:
;
The
Ha
mi
l
t
oni
a
n
fu
nc
ti
o
n
of
t
h
e syst
em is
g
i
ve
n b
y
;
ℎ
,
(
15)
Eq
ua
ti
ons
o
f
t
h
e S
P
I
M
des
c
ri
be
d
i
n
t
h
e
dq
r
e
fe
re
nc
e
f
r
a
m
e
(
5
)
ca
n
be
re
w
r
i
t
t
e
n
i
n
t
h
e
PC
H f
o
r
m
(
1
4
)
wi
th:
0
-0
01
0
;
00
1
ss
ss
L
Jx
L
a
Rx
g
x
a
(
16)
S
u
p
p
o
s
e
t
h
a
t
w
i
t
h
th
e e
x
p
e
c
t
a
t
i
o
n
of
sy
st
e
m
ati
c
sta
b
ilit
y
(
1
9
)
aro
und
a
d
e
sir
e
d
eq
u
ili
bri
u
m
xo
,
a Hd
(
x
) cl
ose
d
-l
o
o
p
e
n
e
r
gy
f
unct
i
on,
w
h
i
c
h ha
s
a
st
ri
ct
mi
ni
mum
at
x
0
(
t
h
a
t i
s
,
Hd (
x
) >
Hd
(
x
0
)
f
o
r a
l
l
x,
i
s
a
s
si
gne
d
t
o
the
syst
em.
T
h
e
f
e
e
dbac
k
st
abi
l
i
z
at
ion
t
h
e
o
r
y
o
f
P
C
H
s
y
st
em
is gi
ven
as
fol
l
ows
[
6
].
Gi
ve
n
J(
x
)
,
R
(
x
)
,
H(
x)
,
g(
x)
an
d t
h
e
de
si
re
d e
q
ui
li
bri
u
m xo.
T
h
en
a
fe
ed
ba
c
k
c
ont
r
o
l
u =
α
(x
)
,
R
a
(x)
,
J
a
(x
) a
n
d K
(
x
)
v
e
c
t
or
f
u
n
c
ti
ons c
a
n
b
e
fo
und
a
n
d th
ey
sat
i
sfy
(
17)
Tha
t
is
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
: 2
088
-86
94
In
t
J
Po
w
Ele
c
&
Dri
Sy
st,
Vol.
1
1
,
No
. 2
,
Jun
e
2
020
:
10
99
–
1
108
1
104
;
;
;
(
18)
T
h
e
clo
s
e
d
lo
op
sy
s
t
em
as
fe
l
l
o
w
(
19)
Thi
s
s
y
st
em wi
l
l
be a
dissi
pat
i
on PC
H
syst
em
;
(
20)
whe
r
e,
H
a
i
s
a
n
a
d
de
d
e
n
e
r
g
y
int
o
t
h
e s
y
ste
m
f
o
r
thi
s
cl
ose
d
-l
oo
p
s
y
ste
m
i
s
gai
n
ed
a st
a
b
l
e
eq
ui
l
i
br
i
u
m
at
x
0
.
The
n
e
xpe
ct
e
d
Hami
lt
oni
a
n
e
n
er
g
y
sto
r
a
g
e
f
unct
i
o
n i
s
de
fi
ne
d
a
s
ℎ
:
(
21)
Wh
er
e,
;
0;
(
22)
0
0
;
0
0
(
23)
w
h
e
r
e,
J1 is in
t
e
rconn
ect p
a
rameter
,
r1,
a
n
d
r2
are d
a
mp
ing
p
a
r
a
meter
s
a
n
d F
r
o
m
(1
7)
to
(2
2)
,
th
e con
t
r
o
l
co
mp
on
en
ts
o
f
th
e
cu
rre
n
t
co
n
t
ro
lle
r in
t
h
e
in
n
e
r
l
o
op
is
d
e
te
r
m
in
ed
as
∗
∗
∗
∗
∗
∗
∗
∗
(
24)
In (
1
2)
an
d (
2
4)
, the
rot
o
r fl
ux va
l
u
e
w
h
i
c
h
c
a
n
n
o
t be mea
s
u
r
ed
i
s
i
n
i
d
ent
i
f
i
e
d
b
y
VM
a
nd i
s
pr
ese
n
t
e
d i
n
se
ct
i
on
2
.
3
.
A
new
c
o
ntr
o
l st
r
u
ct
ure c
o
m
b
ina
t
i
ng BS
_PC
H
f
o
r
F
O
C
of
t
h
e SP
I
M
dri
v
e be
e
x
p
r
esse
d as
F
i
gur
e
3.
Fi
gu
re
3.
F
O
C
t
e
c
hni
que
o
f
t
h
e
S
P
I
M
d
r
i
v
e
wi
th BS
_PC
H
c
ont
r
o
ll
er
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J Po
w El
ec
&
Dr
i
S
y
st
IS
SN:
208
8-8
6
9
4
Nov
e
l
n
o
n
l
i
ne
a
r
co
nt
rol
struc
t
ure f
o
r ve
ct
o
r
cont
r
o
l
of
SP
IM
dri
ve
usi
n
g
BS
PC
H (N
g
o
c
Th
uy
Ph
a
m
)
1
105
4.
S
I
MU
LINK AN
D D
I
S
CUSSION
In
t
h
i
s
pa
rt
, t
h
e perfo
rma
n
ce
ve
ri
fi
ca
ti
o
n
o
f
BS
_
P
C
H
c
o
t
r
ol
sc
heme
fo
r FO
C t
ech
ni
q
u
e o
f
S
P
I
M
dri
v
e a
s
s
h
ow
n
in
F
i
gu
re
3
is
ca
rri
ed
o
u
t
th
r
oug
h
Mat
l
ab
si
mul
a
t
i
on
s
o
ft
w
a
re.
SP
IM
dri
v
e
wi
t
h
t
h
e
p
r
o
pos
ed
cont
rol
sc
hem
e
ha
s
bee
n
s
u
rve
y
e
d
a
t
di
ffe
rent
w
o
rki
n
g
s
p
ee
d a
r
eas.
Th
e
s
e
su
rve
y
s a
r
e
impl
eme
n
t
e
d
base
d
benc
hma
r
k
t
e
s
t
s
i
n
[1
5], [1
7]
. SP
IM pa
ra
m
e
t
e
rs:
1
H
P,
2
2
0
V
,
50
Hz
, 4
pole
,
1
4
5
0
rp
m.
R
s
=
10
.1
, Rr
=
9.85
4
6
, Ls
=
0.83
3
4
5
7
H,
Lr =
0.
83
0
811
H
,
L
m
=
0.
78
31
0
6
H
,
Ji
=
0.
00
8
8
k
g
.
m
2. R
s
is n
o
mina
l
va
l
u
e o
f
stato
r
resistanc
e
.
Te
st 1:
Tra
c
k
i
n
g
R
e
fe
renc
e
Test
1
i
s
c
a
r
r
i
ed
ou
t
a
ccor
d
i
n
g
re
co
mmend
ed
B
e
n
c
h
m
ar
k t
e
sts
in
[1
5
]
.
In
t
h
at
, th
e r
e
f
e
r
e
n
c
e
sp
eed i
s
se
t
up
fr
om 65
rad
/
s
to
12
5
rad
/
s
a
t
3
s
, 50%
ra
te
d l
o
a
d
ap
p
lie
d
at
6s.
Th
e
re
su
lt
s in
Fig
u
r
e
4
(
a)
sh
ow
s
th
e
t
r
ac
kin
g
re
fe
re
nc
e pe
rforma
n
c
e of the
B
S
_
P
C
H
sc
he
me b
a
se
d o
n
vec
t
o
r
cont
rol
i
s
ve
ry we
l
l
. Co
mpa
r
in
g t
o
P
I
c
o
n
t
ro
lle
r
an
d
NN c
o
n
t
ro
lle
r in
[
15], it i
s
ea
sy to see t
h
a
t
th
e B
S
_PC
H
c
o
n
t
ro
ll
er
g
i
v
e
r
e
spo
n
s
es
fa
ste
r
,
more acc
u
r
at
e
and
bet
t
e
r t
h
e t
r
a
c
ki
ng refe
ren
c
e p
e
rfo
r
ma
nc
e t
h
an
P
I
co
nt
rol
l
e
r
an
d
N
N
c
ont
ro
l
l
e
r.
The r
e
sul
t
s
i
n
F
i
g
u
re
4
(
a
)
al
so s
h
o
w
t
h
at
t
h
e st
at
or
c
u
rre
nt an
d
t
o
rq
ue
re
sp
o
n
se
,
whic
h
pro
v
i
d
e
d
by P
C
H vect
or co
nt
rol
,
is
fe
we
r osci
l
l
a
t
ions t
h
a
n
b
o
t
h
t
h
e
c
o
n
v
ent
i
o
n
a
l
and
NN
vec
t
or
c
ont
rol i
n
[1
5]. In o
r
de
r to
assess the
ro
bu
st
ne
ss
fo
r
l
o
a
d
di
st
ur
bance
o
f
t
h
e
pr
opose
d
B
S
_P
C
H
c
ont
rol
,
obse
r
vi
ng
t
h
e s
p
e
e
d
res
p
o
n
se
i
n
F
i
gu
re
4(a
)
at
6s
whe
n
lo
a
d
tor
q
u
e
is
a
p
p
lie
d, we see th
at
e
rror in
t
r
a
c
k
ing th
e spe
e
d
in
cr
e
a
se
no
t sig
n
i
f
i
c
a
n
t
ly at
6
s
, th
e
r
e
a
l
sp
ee
d
in
s
t
a
n
tly
co
nv
er
g
e
s
t
o
th
e r
e
f
e
re
n
c
e
s
p
eed
.
Fo
r
tes
t
in
[1
5],
t
h
e
err
o
r
in
trac
k
i
ng
t
h
e sp
e
e
d
ref
e
r
e
n
c
e
app
e
ar
in
bot
h
co
n
v
ent
i
ona
l
vect
or
c
o
ntr
o
l a
n
d
NN
ve
ct
o
r
c
o
nt
rol
,
the
s
e
e
rrors
i
n
t
r
ac
ki
ng
t
h
e
spe
e
d
refe
ren
c
e
a
r
e
hi
ghe
r tha
n
t
h
a
t
a
ppea
r
e
d
i
n
B
S
_P
C
H
vec
t
o
r
c
o
nt
rol
sc
he
me
.
Te
st 2:
De
tu
ni
ng
Ef
fec
t
s
Thi
s
t
e
st
is i
m
ple
m
e
n
te
d
t
o
e
v
al
uat
e
t
h
e
p
r
op
ose
d
B
S
_P
CH
c
o
ntrol
pe
rfo
r
ma
nc
e
un
de
r
mot
o
r
p
a
rame
te
r v
a
r
i
a
tio
n
con
d
itio
n
and
lo
a
d
d
i
st
u
r
b
a
n
c
e
.
Th
e
ex
tre
m
e
condi
tio
n
s
are
surv
ey
e
d
wi
th t
h
e
ro
tor
r
e
s
i
sta
n
c
e
v
a
l
u
e
w
a
s se
tup inc
r
ea
se
d
Rr
' =
3
R
r at
2.
5s,
the
r
e
fe
r
e
n
c
e
s
p
ee
d
is in
cr
ea
sed
f
r
o
m
65 r
a
d
/
s up to
12
5
ra
d
/
s a
t
3s,
50%
rat
e
d
l
o
ad
a
p
pli
e
d at
6
s
.
Fi
gu
re
4(b
)
sho
w
s
t
h
e
s
p
e
e
d
, t
o
rq
ue
an
d
c
u
rre
nt
res
p
o
n
ses
o
f
t
h
e p
r
opose
d
B
S
_P
C
H
vect
o
r
cont
rol
sc
he
me
,
res
p
ec
t
i
ve
l
y
.
(a)
(
b
)
F
i
gu
re
4.
B
S
_
P
CH v
ect
or co
nt
rol
wi
t
h
se
tt
i
n
g
:
a.
N
o
mi
na
l ro
t
o
r
resi
sta
n
ce
;
b. R
r
*
=3R
r
0
2
4
6
8
0
50
10
0
15
0
Time
(
s
)
Sp
e
e
d
(
ra
d/
s
)
Re
fe
re
n
c
e
Me
a
s
u
r
e
d
0
2
4
6
8
0
50
100
150
Ti
me
(
s
)
S
pe
e
d
(
ra
d/
s
)
Re
fe
re
n
c
e
Me
a
s
u
r
e
d
0
2
4
6
8
-1
0
0
10
20
30
Time
(
s
)
T
o
r
que
(
N
.
m
)
Re
fe
re
n
c
e
Me
a
s
u
r
e
d
0
2
4
6
8
-1
0
0
10
20
30
Time
(
s
)
To
r
q
u
e
(
N
.m
)
Re
fe
re
n
c
e
M
easu
r
ed
0
2
4
6
8
0
2
4
Tim
e
(
s
)
S
t
a
t
o
r
d-
q c
u
r
r
e
n
t
(
A
)
is
d
r
e
f
is
d
r
e
a
l
is
q
r
e
f
is
q
r
e
a
l
0
2
4
6
8
-2
0
2
4
Time
(
s
)
S
t
a
t
o
r
d-
q
c
u
r
r
e
nt
(
A
)
is
d
r
e
f
is
d
r
e
a
l
is
q
r
e
f
is
q
r
e
a
l
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
: 2
088
-8
6
94
I
n
t
J Po
w El
ec
&
Dr
i
S
y
st
, Vol.
11
,
No
.
2
,
Jun
e
2
020
: 10
99
–
1
1
08
1
106
The
s
e s
u
rve
y
re
sul
t
s
s
h
o
w
t
h
at
t
h
e
PC
H c
ont
rol
sc
heme
ca
n
p
r
ovi
de
t
h
e pe
rfo
r
ma
nc
e wel
l
whe
n
fa
ci
n
g
t
h
e
pa
ra
me
te
r
va
ri
at
ions
a
nd
l
o
a
d
t
o
r
que
di
st
u
r
ba
nce.
T
h
e
spe
e
d
a
n
d
c
u
rre
nt
resp
o
n
se
s
are
al
most
una
ffect
e
d
u
n
t
i
l
50% rat
e
d l
o
ad
has be
e
n
appl
i
e
d t
o
mot
o
r.
W
h
e
n
ap
pl
yin
g
l
o
a
d
, e
rro
r spee
d t
r
ac
kin
g
an
d
ri
p
p
le
c
u
rre
n
t
and t
o
rque
i
n
c
r
ea
sed sl
i
g
htl
y
.
Ho
we
ve
r,
co
mpa
r
i
n
g t
o
N
N
co
nt
rol
i
n
a
nd c
o
nve
nti
o
n
a
l
P
I
cont
rol
i
n
[15
]
, i
t
is e
a
sy t
o
see
t
h
a
t
BS
_
P
C
H
sc
he
me
gi
ve
bet
t
e
r
performa
n
ce
,
mo
re
ro
b
u
stne
ss f
o
r t
h
e
unce
r
t
a
i
n
mot
o
r
para
me
te
r
of a
nd l
o
ad
di
st
urbanc
e
.
T
h
e
result
s i
n
F
i
g
u
re
4(b) s
h
ow
t
h
at
t
h
e t
o
rqu
e
and
current
osc
i
l
l
a
t
i
ons
o
f
t
h
e
pro
pos
ed s
c
he
me
i
n
t
h
i
s
pa
pe
r l
e
ss
t
h
a
n
t
h
e c
o
n
v
ent
i
o
nal
P
I
ve
c
t
or
c
ont
rol a
n
d N
N
cont
rol
in
[1
5
]
.
The PC
H sc
he
me ha
ndl
e c
u
rrent
l
oops
q
u
i
t
e
effic
i
e
n
tl
y
,
t
h
e com
p
en
sa
ti
o
n
fu
nct
i
on Ha
adde
d
t
o
kee
p
s
y
s
t
em
a
l
wa
y
s
wo
rk
s
t
a
b
ly at
ref
e
re
nc
e val
u
e
s
. i
sd
, i
sq
sta
t
o
r
cu
rren
t
re
sp
on
s
e
s in
e
x
t
r
e
m
e
c
ond
it
io
n R
r
i
n
cre
a
se
d
300
%
,
50%
ra
te
d l
o
ad
are
bet
t
er
t
h
an
N
N
c
o
n
t
ro
l
[1
5].
Te
st 3
In
Test
3, t
w
o
ca
ses
a
r
e
exa
m
i
n
ed
base
d
on re
comme
n
d
[1
7
]
.
Ca
se 1,
t
h
e
re
ference
spee
d
c
h
a
n
ges
wi
t
h
o
u
t
loa
d
,
the
res
u
l
t
s a
r
e
s
h
ow
n i
n
F
i
g
u
re
5
.
Ca
se 2, t
h
e s
p
e
e
d
i
s
fi
xe
d at
1
0
0
0
r
p
m
d
u
ri
ng
t
h
e surve
y
t
i
m
e
, the
loa
d
t
o
rq
ue
o
f
10
0%
i
s
ra
te
d
a
t
7s
(i
ns
te
ad
of 75%
ra
te
d
l
o
ad
as [1
7
]),
t
h
e res
u
l
t
s are
sh
ow
n i
n
Fi
gu
re
6.
F
r
om
t
h
e
simula
tio
n
resu
lt
s,
i
t
i
s
ea
sy
to
se
e
th
a
t
th
e dyn
ami
c
p
e
r
f
o
r
m
a
nc
e
of
th
e BS_
P
C
H
co
n
t
ro
lle
r
i
s
v
e
r
y
g
ood
.
I
t
do
e
s
no
t a
p
p
e
ar
t
h
e
sp
ee
d
and
cu
rr
en
t r
i
pp
l
e
,
th
e co
n
t
r
o
ll
ed
v
a
lu
e c
o
nv
er
g
e
s
and
fo
l
l
ow
v
e
ry
rap
i
d
l
y
t
h
e re
fere
nce
val
u
e
d
u
ri
ng
t
h
e s
u
rve
y
pe
ri
od
(F
i
g
u
r
e
5,
F
i
gu
re
6). T
h
e
c
onve
rgenc
e
t
i
me
of t
h
e s
p
ee
d is
signi
fi
ca
ntl
y
i
m
p
r
o
v
e
d
c
o
m
p
ared
t
o
t
h
e
c
o
n
t
rol
l
er pro
pose
d
i
n
[1
7].
O
n
t
h
e ot
he
r ha
n
d
,
w
h
e
n
o
b
ser
v
in
g e
f
fect
of t
h
e
l
o
a
d
di
st
urba
nce
at
7s
i
n
c
a
se
2
(Fi
g
ure
6
a
t
7
s
), i
t
i
s
ea
s
y
t
o
see
it
s r
obust
n
e
s
s
t
o
l
o
ad
di
st
urbanc
e
s
,
th
e
r
e
is
n
o
o
s
cil
l
a
tio
n
or
signif
i
c
a
n
t
sp
eed
re
d
u
c
tion
r
e
c
o
rd
e
d
, co
mp
are
d
to th
e trad
it
io
n
a
l PI con
t
ro
lle
r and
t
h
e c
ont
rol
l
e
r
pro
pose
d
i
n
[1
7], t
h
e
S
M
_F
L
co
nt
rol
l
e
r
i
s
p
r
o
p
o
se
d
)
i
n
[1
7] t
o
ha
n
d
le
be
t
t
e
r l
o
a
d
di
stu
r
bance
,
h
o
w
e
v
e
r,
th
e lo
a
d
d
i
st
u
r
b
a
n
c
e
st
ill
ma
k
e
red
u
c
e
t
h
e
sp
eed a
t
7
s
th
en
t
h
e
mo
tor
sp
e
e
d
co
nv
e
r
g
e
s w
i
t
h
a
sta
b
le
re
fe
re
nce
val
u
e
.
F
i
g
u
r
e
5
.
Th
e sp
ee
d and
t
o
rque
r
e
sp
on
se
s
i
n
c
a
s
e of
sp
eed
v
a
r
i
a
tio
ns w
i
t
hou
t
lo
a
d
Fig
u
r
e
. 6
Th
e sp
ee
d and
t
o
rque
r
e
sp
on
se
s in
c
a
s
e of
c
o
n
s
ta
nt s
p
eed
5.
CON
C
L
U
S
I
ON
Thi
s
pape
r
pre
s
ent
s
a
ne
w a
p
p
r
oac
h
t
o
FO
C
co
nt
rol
o
f
S
P
I
M.
Tw
o
n
o
n
l
i
ne
ar c
o
ntr
o
l
l
e
rs,
one
of
Ba
ckst
ep
pi
n
g
c
ont
rol
(B
SC
)
and
t
h
e
othe
r
P
o
rt
Co
nt
rol
l
ed
Hami
lt
oni
a
n
(P
CH)
de
fi
ne a
new
c
ont
rol
str
u
c
t
u
r
e
fo
r vec
t
or
c
ont
rol of
S
P
I
M dri
v
e
s
y
ste
m
t
,
e
n
abl
e
s very go
o
d
st
at
i
c
an
d d
y
n
ami
c
perf
orma
nce
of
S
P
I
M
dri
v
es
(pe
r
fec
t
t
u
ni
n
g
of
t
h
e spee
d r
e
fe
re
nc
e
val
u
e
s
, fast re
sp
o
n
se
of t
h
e
m
o
t
o
r
current
a
n
d
t
o
rque
, hi
gh a
c
c
u
r
a
c
y
of
spee
d
re
gula
t
io
n), a
n
d
rob
u
st
fo
r t
h
e
ma
c
h
i
n
e
para
met
e
r va
ria
t
ions, l
o
ad
d
i
sturba
nce
s
.
T
h
e
simul
a
t
i
o
n
r
e
sul
t
s
0
2
4
6
8
10
0
50
0
100
0
150
0
Time
(
s
)
S
p
eed
(
r
p
m
)
Re
fe
r
e
nc
e
M
e
as
u
r
ed
0
2
4
6
8
10
-1
0
0
10
Ti
m
e
(
s
)
C
u
rr
e
n
t
Is
q
(A
)
Re
f
e
r
e
n
c
e
A
c
t
ual
0
2
4
6
8
10
0
5
10
Ti
me
(
s
)
S
t
a
t
o
r
c
u
rre
n
t
(i
s
q
-A
)
Re
fe
re
n
c
e
M
e
asu
r
ed
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J Po
w El
ec
&
Dr
i
S
y
st
IS
SN:
208
8-8
6
9
4
Nov
e
l
n
o
n
l
i
ne
a
r
co
nt
rol
struc
t
ure f
o
r ve
ct
o
r
cont
r
o
l
of
SP
IM
dri
ve
usi
n
g
BS
PC
H (N
g
o
c
Th
uy
Ph
a
m
)
1
107
and di
sc
ussi
o
n
in se
ct
i
on 4
c
o
n
f
irme
d
t
h
e
g
o
o
d
dy
nami
cs and
rob
u
stne
ss
of
t
h
e
p
r
o
p
o
s
e
d co
nt
rol
al
g
o
ri
t
h
m
base
d on
t
h
e
B
S
_PC
H
.
RE
FERE
NC
E
S
[1]
E.
Lev
i
,
“M
ult
i
p
h
as
e el
ectr
i
c
m
a
ch
in
es for
v
a
riabl
e
-sp
eed
app
lic
ations
,”
I
E
E
E
T
r
a
n
s
a
c
t
io
ns o
n
I
n
dus
t
r
ia
l
Electro
nics
,
Vol.
5
5
,
No.
5
,
pp.
18
93
– 1
9
0
9
,
20
08
.
[2]
Ng
oc
T
h
uy Ph
am
,
Die
p
Ph
u Ng
uy
e
n
,
Kh
uo
ng
Huu
Ngu
y
e
n,
an
d
Nh
o
Va
n
Ngu
y
e
n,
“
A
Nove
l
Ne
u
r
a
l
Ne
twork
S
C
_
M
RA
S
Based
Ob
server fo
r
Hig
h
-P
erfo
rman
ce,”
Int
e
rna
t
ion
a
l Jou
r
na
l o
f
In
tellig
ent
En
gin
e
e
r
ing
and
Sys
t
em
s
,
Vo
l.
11,
No. 6
,
pp.
95
-1
07, 2
0
1
8
.
[3]
F
.
A
l
on
ge,
M
.
Cirrincion
e
, M
.
P
u
cci,
and
A
.
S
f
erla
zz
a,
“Inpu
t–
Ou
tp
ut F
eedb
a
ck
L
i
near
iz
ation
Con
t
rol
With O
n
-
Line
M
R
AS
-Bas
ed
In
du
cto
r
Resis
t
an
ce Es
tim
a
tio
n
of
Lin
ear
Ind
u
c
tion
M
o
tors
In
c
l
ud
in
g th
e D
y
n
a
mic
End
Eff
e
c
t
s,”
IE
E
E
Tran
sa
c
t
i
ons o
n
In
du
stry
Ap
pl
ic
a
t
i
o
ns
,
Vo
l.
52,
No
. 1
,
pp
. 2
5
4
-
266
, 2
0
1
6
[4]
Ha
m
o
u Ai
t Abba
sa
, Moh
a
m
m
e
d
B
e
lk
h
e
i
r
ib
,
Bo
uba
k
e
ur Ze
gnin
i
a
,
“F
e
e
db
ack
Line
ariz
atio
n
Co
ntro
l of
An
In
du
ctio
n
Mach
in
e Aug
m
e
n
te
d
by
S
i
ng
le
Hidd
en La
y
e
r
N
e
ural
N
e
tw
orks
,
”
International Jour
na
l of Con
t
r
o
l,
Vo
l
.
8
9
, No
. 1,
pp.
14
0-1
5
5
,
20
16
.
[5]
Abd
e
lmad
jid
Bo
umedi
e
nn
e and
Hach
emi
Glaou
i
, “S
lid
i
n
g
M
o
d
e
Ba
c
k
ste
p
pin
g
Co
nt
rol
of In
duc
tion
Mo
to
r
Oth
m
an
e
Boug
hazi
,”
I
n
t
e
rn
at
io
na
l
Jo
ur
na
l o
f
Po
wer
E
l
e
c
tr
on
ics
an
d
Dr
ive
S
y
st
em (
I
JP
EDS
)
,
Vo
l. 4, N
o
.
4,
p
p
. 48
1-4
88,
201
4.
[6]
Go
ui
c
h
i
c
h
e
Abde
l
m
a
d
j
i
d,
Bou
c
h
e
rit
M
oha
m
e
d
S
e
gh
ir,
Sa
fa
Ah
m
e
d
,
a
n
d
Me
ssle
m
Yo
uce
f
, “
S
en
so
rle
s
s Sli
d
i
n
g
Mo
de Vecto
r
C
o
ntro
l of
In
du
cti
on M
o
tor
D
r
iv
e
s
,”
In
te
rn
at
io
na
l J
o
urn
a
l
o
f
P
o
we
r
El
ec
tron
ic
s
an
d
Dri
v
e
S
y
ste
m
(IJ
PE
D
S
)
,
Vo
l.
2,
No
.
3,
pp
. 2
77-2
8
4
,
2
0
1
2
.
[7]
T
o
hi
di, A.,
Shamsadd
inlou, A.,
and Sedi
gh,
A.K.
,
“M
ultivari
a
ble input
-
output
l
i
neari
zat
i
o
n sl
i
d
i
ng m
o
de con
t
rol
of
DF
IG b
a
sed
wind
energ
y
co
nv
ers
i
o
n
s
y
s
t
em,”
9th
Asi
a
n
C
ontrol
Con
f
.
(A
SCC),
Istanb
ul
,
Tu
rkey
,
p
p
. 1–6
,
2
0
1
3
.
[8]
Y.
Ta
n,
J.
Ch
a
ng,
a
nd H. T
a
n
,
“Ad
a
p
t
i
v
e
bac
k
-ste
p
p
i
ng c
ontro
l a
n
d
fric
tio
n c
o
mpe
n
sa
t
i
o
n
fo
r AC se
rv
o
wi
th i
n
erti
a
and lo
ad
u
n
certa
inties
,”
IEE
E
T
r
an
sactio
ns
on
In
d
u
s
t
r
i
a
l
Elec
tron
ics
,
vol
.
5
0
, pp
.
94
4-9
5
2
,
2
0
03.
[9]
M.R
J
ovan
o
v
i
c
and
B. Ba
mieh, “Arch
i
t
ectu
r
e I
ndu
c
e
d
by
Di
st
ribut
e
d
Bac
k
st
e
p
p
i
ng
De
si
gn
,
”
I
E
EE T
r
an
sa
c
t
io
ns
o
n
A
u
tomati
c Control,
Vo
l.
52,
No.
1
,
p
p
. 1
08 – 11
3,
2
0
0
7
.
[10]
Abd
e
rrahmen
Z
a
afo
u
ri
, Chih
eb
Ben R
e
gay
a
, Hechm
i
Ben
Az
z
a
, and
A
b
d
e
lk
a
d
er
Ch
âari, “
z
DS
P
-
b
a
s
e
d ad
a
p
ti
ve
backs
t
ep
p
i
ng us
in
g th
e tr
ack
in
g e
rro
rs fo
r
h
i
g
h
-p
erfo
rmanc
e
s
e
ns
o
r
le
s
s
sp
eed
co
n
t
r
o
l
of
in
du
c
t
ion
motor dr
iv
e
,
”
IS
A
T
r
an
sa
ctions
, V
o
l. 6
0
,
pp
.
33
3-3
47,
20
16
.
[11]
Traoré
D, D
e
Leon
J
,
an
d
Glu
m
in
e
a
u
A
,
“
S
en
so
rless
in
du
cti
on m
o
t
o
r
a
d
a
p
t
i
ve
ob
serv
er-back
s
tepping
controller:
e
x
p
e
rim
e
n
t
a
l
robu
st
ne
ss te
st
s on lo
w fre
q
u
e
n
c
i
e
s
be
n
c
h
m
a
r
k,”
IET
C
o
nt
r
o
l
Th
e
o
ry
,
V
o
l.
4
8
,
No
.
1
1
,
pp
.
19
89
–2
00
2
,
201
0.
[12]
Mo
rawiec M
.
,
“
Z
ty
pe
o
b
s
e
rver
back
st
epp
i
ng
f
o
r
ind
u
c
t
io
n
ma
chines
,”
I
E
EE
T
r
ans Ind El
ectron
,
Vo
l. 9
9
, No
.
1
,
201
4.
[13]
R. Gun
a
b
a
l
a
n
a
nd V
.
S
ubb
iah
,
“S
peed
S
e
ns
orle
ss V
ector
Con
t
r
o
l of
In
duc
tio
n
M
o
tor Drive
wi
th
P
I
and
Fu
zzy
Controller
,”
In
te
r
n
a
t
iona
l
Jour
na
l o
f
Pow
e
r
Ele
ctr
onics
and
D
r
ive
Syst
em (IJ
P
E
DS
)
,
Vo
l.
5, No.
3
,
pp.
31
5-3
2
5
,
F
e
b
r
uary
20
15
.
[14]
Ahmed
J
.
Al
i1
, Ziy
a
d
K. F
a
r
e
j,
an
d Nas
h
wan
S
.
S
u
lt
an, “P
erfo
r
m
anc
e
eva
l
uatio
n
o
f
a
hy
br
id fu
zzy
log
i
c
con
t
rol
l
er
b
a
se
d o
n
ge
ne
t
i
c
a
l
g
o
rith
m
fo
r
t
h
re
e
pha
se
in
d
u
ctio
n
m
o
t
o
r
dri
v
e
,
”
I
n
ter
nat
io
na
l
J
o
u
r
n
a
l o
f
Po
w
e
r
El
ect
ro
ni
cs an
d
Drive S
y
s
t
em
(I
J
P
EDS),
Vo
l.
10,
No
. 1
,
pp
.
1
1
7
-
1
2
7
,
M
a
r
c
h
20
19
.
[15]
Xin
g
an
g F
u
a
n
d
S
h
u
hui
Li,
“A N
o
vel Neu
r
al Ne
tw
ork
Vector Co
ntrol
T
echn
i
qu
e fo
r
Ind
u
ct
io
n M
o
to
r
D
r
ive
,
”
IE
E
E
Tra
n
sac
t
io
ns on
En
e
r
g
y
Conv
e
r
sion
,
Vo
l.
3
0
, No
.
4
,
p
p
. 1
4
2
8
–
1
437,
20
15.
[16]
Na
sir Ud
di
n
M. Hu
a
n
g Z
.
R.
;
Sid
d
i
q
ue
Hos
s
ain
A. B. M
.
, “Dev
e
l
o
p
ment
and I
m
plem
entatio
n
of
a S
i
mpl
i
fied
S
e
lf-
Tun
e
d Neu
r
o–
F
u
zzy B
a
sed
IM
Driv
e,”
J.
S
c
i. IEEE T
r
a
n
sa
ction
s
on Indust
r
y Applications,
Vol.
50, No. 1,
pp.
51
-59
,
2
014
.
[17]
Ashu
t
o
s
h
Mishr
a
a
n
d Pra
s
h
a
nt
Ch
ou
dh
a
r
y,
“
A
r
t
i
f
ici
a
l Ne
ural
Ne
t
w
o
r
k Ba
se
d Co
nt
rol
l
er fo
r
Spe
e
d
Co
n
t
rol of
a
n
In
d
u
c
t
io
n Mot
o
r usin
g Ind
i
rec
t
Ve
c
t
o
r
Co
ntro
l
M
e
th
od
,
”
I
n
tern
at
io
na
l Jou
r
na
l o
f
Po
w
e
r El
e
c
tr
o
n
i
c
s
an
d
Dr
ive
System (I
JPED
S
)
,
Vo
l.
2
,
No. 4,
pp
.
4
0
2
-4
08,
Dec
e
m
be
r 20
12.
[18]
Yi
ng
L
i
u,
Sh
a
n
m
e
i
Ch
e
n
g,
Bo
we
n
Nin
g
,
a
nd Ye
son
g
Li,
“
P
e
r
f
o
rm
a
n
c
e
e
nha
nc
em
e
n
t u
s
i
ng
du
ra
ti
on
a
l
m
ode
l
predic
tive
co
n
t
r
o
l
co
mb
ined
with
b
ackst
epp
i
n
g
co
ntro
l and
dist
urban
c
e
ob
serv
e
r
for ele
c
tri
cal
d
r
iv
e
s
,”
Jo
ur
na
l o
f
Vibra
t
ion
an
d
C
o
ntro
l,
Vo
l.
2
,
No.
4
,
pp.
4
0
2
-4
0
8
,
Vo
l.
25,
No
.2,
Oc
t
o
b
e
r 20
18
.
[19]
C.
Ce
cati,
“P
os
itio
n co
ntrol
of
the ind
u
c
t
io
n mo
to
r us
in
g a p
a
ss
iv
itybas
e
d Co
ntroller
,”
IEE
E
Tran
sac
t
io
n
s
on
Industry Applicat
ions
, Vol.
3
6
, pp.
12
7
7
-1
28
4
,
200
0.
[20]
H. Y
u
,
K.
Zh
ao
,
H.
Wang
,
an
d
L.
Gu
o,
“
E
nerg
y s
h
aping
con
t
r
o
l o
f
P
M
syn
c
hr
o
nou
s mo
to
r b
a
s
e
d o
n
load
torq
ue
obs
erver,
”
Syst
e
m
s
En
gineering
an
d Electro
nics
,
vo
l.
28,
n
o
. 1
1
,
p
p
.
17
40
-17
4
2
,
2
0
06
.
[21]
H.
YU, K. Z
h
a
o
,
L
.
Gu
o,
a
n
d
H.
Wa
n
g
, “
M
a
x
im
um
To
rqu
e
Per Am
p
e
re
Contr
o
l
of PMSM Ba
se
d
on
Port
-c
on
tro
lled
Ha
m
i
lt
onia
n
Th
eo
ry,
”
Pro
ceed
in
gs
of th
e CS
EE
,
Vo
l.
26, No.
8
,
pp.
8
2
-8
7
,
Ma
y
20
06
.
[22]
Zhiping
Ch
en
g
an
d Liu
c
hen
g
J
i
ao
,
“Ham
ilton
i
an
Mo
deli
ng
a
n
d
Pa
ssiv
i
t
y
-
ba
sed Co
nt
ro
l of P
e
rm
a
n
e
n
t Ma
g
n
e
t
L
i
n
e
a
r
Sy
nc
h
r
ono
us
M
o
t
o
r,
”
J
ourna
l Of Co
mp
ut
ers
, V
o
l. 8
,
N
o
.
2
,
F
e
b
r
uary
201
3.
[23]
Va
n
d
e
r Sc
h
a
ft,
Arj
a
n,
“
L
2-Gain a
n
d
Pa
ssi
v
i
ng Te
c
h
ni
que
ss in
N
o
n
l
i
n
ea
r Co
nt
ro
l,
”
L
o
nd
on
Sp
rin
g
er
-Ver
lag
, 20
0
0
.
[24]
Orteg
a
R.,
V
a
nd
er S
c
jh
aftb
A.J,
M
a
reels,
eta
l
. “
I
n
t
erco
nn
ect
io
n
a
nd damp
in
g
a
s
sign
ment pas
s
ivity
-based
co
ntron
of
port-con
t
ro
lle
d
Hamilt
io
nian
s
y
stems,”
A
u
tomatic
a,
V
o
l.
3
8
,
No.
4, pp
.
58
5-5
9
6
,
20
02
.
[25]
Hou
-
Ts
an L
e
e
,
F
u
Li-Chen
,
and
Lian
F
e
n
g
-L
i,
“S
en
so
rless
ad
a
p
ti
ve b
acks
t
ep
pin
g
s
p
eed
con
t
ro
l o
f
in
du
ction
motor
,
”
Pro
ceed
ing
s
o
f
t
h
e 4
5
th
IE
EE
co
n
f
er
e
n
c
e
on
d
eci
sion
an
d co
n
t
ro
l
, USA; p
p
.
12
52
–57
, 2
0
0
6
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SSN
: 2
088
-86
94
In
t
J
Po
w
Ele
c
&
Dri
Sy
st,
Vol.
1
1
,
No
. 2
,
Jun
e
2
020
:
10
99
–
1
108
1
108
[26]
Me
h
a
z
z
e
m
F, Ne
m
m
o
ur AL,
Re
a
m
a A, a
nd Be
n
a
ll
a H.,
“
N
o
n
l
i
n
e
a
r
i
n
te
gra
l
ba
c
k
st
e
ppin
g
c
ontro
l
for i
n
duc
ti
o
n
motors
,”
P
r
o
c
e
e
di
ng
s
o
f
2
0
11 inte
rna
t
i
o
na
l
A
e
gea
n
c
o
nfe
r
e
n
ce on el
e
c
t
r
i
c
al ma
chi
n
e
s
a
nd po
we
r
el
e
c
t
r
o
n
i
c
s a
n
d
20
11
Electr
o
m
o
t
i
on
Jo
int Co
n
f
er
ence
(ACE
MP),
pp
.
3
3
1
–
36,
2
011
.
[27]
Trao
ré
D
,
De
Leon
J
,
Glu
m
in
eau
A., “S
en
sor
l
ess
ind
u
ct
ion
mo
to
r ad
aptiv
e
ob
serv
er-backs
t
e
p
ping
con
t
ro
ller
:
exp
e
rimen
t
al
ro
bu
stnes
s
tests o
n
low
freq
uen
c
ies
b
e
nch
m
ark,
”
IET Co
n
t
rol
The
o
ry
A
ppl
, Vol
.
4
8
,
No
.
10,
pp
.1
989
–2
00
2,
2
0
1
0
.
[28]
J. L
i
u,
S
.
Vaz
que
z
,
L.
W
u
,
et
al.
, “Ex
t
e
nde
d sta
t
e
ob
se
rv
e
r-b
ase
d
sli
d
i
n
g-
mode con
t
rol for
t
h
ree-
phas
e power
con
v
ert
e
rs,”
IE
EE Trans
.
Ind. Electron
.,
Vol.
64,
No.
1, p
p
. 22
–3
1, 2
0
1
7
.
[29]
J.
Li
u, W. Lu
o,
X. Ya
n
g
,
et
a
l
.
, “Robust mod
e
l-bas
e
d faul
t diagnosis
for
PEM
fuel vell
air-feed sys
t
em,”
IE
E
E
Tran
s.
Ind
.
El
e
c
tron
.
,
Vol.
6
3
, No.
5
,
pp.
32
61
–32
70
, 2
0
1
6
.
[30]
Q. Su, W. Q
u
an,
G. Cai,
et al
.
, “
I
m
p
ro
ve
d
a
d
a
p
ti
v
e
b
a
c
k
ste
p
pi
ng
sl
id
in
g m
o
de
c
o
ntrol
fo
r
ge
ne
rato
r
st
e
a
m
v
a
l
v
e
s
o
f
no
n-lin
e
ar po
we
r s
y
s
t
ems,
”
IE
T Con
t
ro
l
The
o
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p
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.
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, J.
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,
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,
“
G
lobally
stabl
e
adap
tiv
e
b
ack
st
e
pping
neu
r
al n
e
two
r
k co
ntrol
for
u
n
cer
ta
in s
t
ri
ct-
feedb
a
ck
s
y
s
t
e
m
s with track
ing
accur
acy
kno
wn
a
p
r
iori
,”
IEE
E
T
r
a
n
s
Ne
ural
Ne
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.
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e
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st,
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v
e
n
e
ura
l
b
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stepp
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n
g
for a clas
s of sw
itched
n
onlin
ear s
y
s
t
em
witho
u
t
s
t
ri
ct-
feedb
a
ck fo
r
m
,”
IEEE T
r
an
s.
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t
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n
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Z.
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B.
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,
and
C.
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“O
utput
-fe
edb
a
ck
con
t
ro
l des
i
g
n
for
s
w
itch
e
d
no
nlin
ear s
y
s
t
e
m
s:
adap
tive
ne
u
r
al
back
stepp
i
n
g
ap
p
r
oach
,”
In
f
.
Sci.
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pp. 62–
75
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20
18.
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Y. S
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n
,
B.
Ch
e
n
,
a
nd C. Lin
,
“
A
d
a
pt
ive
ne
ura
l
co
nt
ro
l fo
r a cl
a
s
s o
f
st
o
c
ha
sti
c
non
li
nea
r
sy
st
em
s
by bac
k
ste
p
pi
n
g
app
r
oach
,”
Inf
.
S
c
i
.
, Vol.
3
69,
pp.
7
4
8
–
7
6
4
, 20
16
.
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J.
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B. Chen,
H. Yu,
et
a
l
.
, “N
eural n
e
twork
s
-b
ased co
mmand
f
i
lter
ing con
t
rol
o
f
no
nline
a
r sys
t
e
m
s
with
un
c
e
rta
i
n
disturb
a
nc
e
,
”
In
f.
Sci,
Vo
l.
42
6,
p
p
.
50
–6
0
,
201
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[36]
H.
Li,
L. Wang, H.
Du,
et a
l
.
, “A
d
a
ptiv
e
fu
zzy
b
a
cks
t
ep
pin
g
tra
c
k
i
n
g
contr
o
l
fo
r
s
t
rict-f
eedb
ack sy
stems
w
i
th
in
pu
t
delay
,
”
IEE
E
T
r
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. Fuz
z
y S
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st
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5
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2
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J.
Yu
,
P.
Shi,
W.
Don
g
,
et a
l
.
,
“Ob
s
erver
an
d
co
mmand
-
fil
t
er
-bas
ed
adap
tive
fuz
z
y
o
u
tpu
t
f
eedb
a
ck
con
t
ro
l
o
f
uncertain non
l
inear systems,
”
IEE
E
Tra
n
s
.
Ind.
El
e
c
tron
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,
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.
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5
9
6
2
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0,
20
15
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Abh
i
se
k Pa
l, Suk
a
nt
a Da
s,
a
n
d
Aji
t
K. Chat
to
pa
dh
ya
y
,
“
A
n Im
p
r
o
v
e
d Roto
r Flux
Spa
ce Ve
ct
or
Ba
se
d M
R
AS for
Fi
e
l
d
Orie
nt
e
d
Con
t
ro
l
of
In
duc
t
i
o
n
Mo
to
r Driv
e
s
,
”
IE
EE Tran
sa
c
t
io
ns on
P
o
we
r Ele
c
t
ro
nic
s
, Vol
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33,
No
. 6
,
p
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4
1
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18
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K. J. As
trom
and
B.
Wittenmark
,
Ad
ap
ti
v
e
C
o
n
t
r
o
l
. New
York,
N
Y
, USA
:
A
d
dis
on-Wesley,
1995.
BIO
G
RA
PHIES OF
AU
THOR
Ng
oc Thu
y
P
h
a
m
w
a
s
b
o
rn
in
Viet Na
m,
in 19
76. S
h
e
r
eceive
d
th
e
B.S
c
d
e
gr
ees
in
Elec
tric
al
En
gine
ering
fro
m Th
ai
Ng
uy
en
U
n
iversity
o
f
Tech
nolog
y
in
19
9
4
,
and
th
e M
.
S
c
fro
m
Ho
Ch
i
M
i
n
h
C
i
ty
Un
i
v
er
si
ty
o
f
T
ech
no
lo
gy
in
20
09
.
S
h
e
has
be
en
in
th
e F
acu
lty
of
Electr
i
c
a
l
E
n
g
i
n
e
e
r
in
g, Indu
st
ria
l
Un
iv
e
r
si
ty
of Ho
Chi
Mi
n
h
Cit
y
from 2000.
H
e
r curr
ent
res
earch int
e
rests
in
c
l
ude
t
h
e
PWM te
c
h
n
i
que
s fo
r po
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r
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o
n
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e
r
ters,
AC
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o
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r driv
e
s
,
m
u
l
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i
pha
se
ind
u
c
ti
on
m
o
t
o
r,
sen
s
o
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les
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co
nt
r
o
l of
mu
lt
ip
hase
i
n
d
u
ct
io
n
mo
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dr
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v
es
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