In
te
r
n
ation
a
l Jou
rn
al
of Po
we
r
Elec
tron
ic
s an
d
D
r
ive S
y
stem
(IJPED
S
)
V
o
l.
11, N
o
.
1, Mar
c
h 20
20,
p
p
.
442~
4
5
0
IS
S
N
: 2088-
86
94,
D
O
I
:
10.11
59
1
/ij
ped
s
.
v11
.
i
1.pp
4
42-
45
0
4
42
Jou
rn
a
l
h
o
me
pa
ge
:
ht
tp:
//i
j
p
eds.i
a
esco
re
.com
Applied
measurement of the moto
r speed
controller for washing
machi
n
e with random loads, part II
Kh
al
id
G.
Mhamm
e
d
1
, J
a
b
b
ar
A
.
F. Y
a
h
aya
2
,
R
e
yasu
d
in
B
a
sir
Kh
an
3
1
Dep
a
rtm
e
nt of S
c
ientif
i
c
Aff
a
i
r
s,
U
n
i
v
ersit
y
of
Di
yala,
Iraq.
2
F
acul
t
y
of Elect
ri
cal an
d
Elect
ron
i
c E
ngineeri
n
g
,
Univ
ersi
ti
Tun H
u
ssein Onn, Malaysia.
3
Univers
iti Kual
a L
u
mpur
, Br
iti
sh
M
a
l
a
ysian Inst
i
t
ute,
Mal
a
ys
i
a
.
Art
i
cl
e In
fo
ABSTRACT
A
r
tic
le hist
o
r
y
:
Re
ce
i
v
e
d
S
e
p 7,
201
9
Re
vise
d N
ov
2
,
2019
Ac
ce
p
t
ed
No
v
2
8
,
2
019
Th
is
res
earch pres
ent
s
a very
im
po
rtan
t
in
du
s
t
ri
al
iss
u
e o
f
con
t
ro
llin
g
th
e
pro
d
u
c
tio
n t
a
rg
et,
d
e
sp
ite
ch
a
n
ging
l
o
ad
s.
E
ngi
ne
s
of
vario
u
s
t
y
p
e
s,
w
h
eth
e
r
sy
nch
r
ono
us
or
sy
nchro
n
o
u
s
,
o
p
erate o
n
sin
g
l
e
and
t
h
ree p
h
ase
AC, D
C
m
o
t
o
rs
o
r
sp
ecial
mo
to
rs
s
u
ch as s
t
epp
e
r an
d s
e
rvo.
In a
ll th
ese
m
o
t
o
rs
, th
e
sp
eed con
t
ro
l o
f
th
e
torq
ue and
s
p
eed
o
f
the
ab
ove m
o
t
o
rs
has g
a
ined
con
s
i
d
erabl
e
impo
rtan
ce. There
are th
ree
m
a
i
n
way
s
revi
ewed
in th
e
current
search
, th
e
s
econ
d
th
at com
p
letes th
e previ
ous
research
ref
e
rre
d
t
o
i
n
th
e
ref
e
rences.
The t
h
ree m
e
th
od
s
are P
I
D met
h
o
d
,
L
Q
R
m
e
th
od and
f
e
e
d
in
g –
f
o
rw
ard co
n
t
rol m
e
th
ods.
A
real
DC mo
to
r was used
in elect
rical
eng
i
n
eering
m
achi
n
e labo
rato
ry
a
t
Un
iv
ersit
y
o
f
Di
yal
a
,
Ira
q
.
W
h
ere
t
h
e
actual
param
e
ters
of
th
e D
C
m
o
t
o
r w
e
re actu
a
ll
y
c
a
l
c
ul
ated. The p
r
actical
param
e
ters
were th
en i
n
teg
r
ated
int
o
t
h
e t
h
ree
con
t
rol m
e
th
od Mat
l
ab
co
de
s
f
o
r t
h
e
pu
rpose
of
co
m
p
aring th
e res
u
l
t
s an
d
repres
ent
i
n
g
th
e mo
to
r
p
erf
o
rman
ce in
the i
ndi
cated
contro
l m
e
t
hod
s
.
K
eyw
ord
s
:
DC mo
t
o
r
Motor
Controller
Sp
eed
Co
ntrol
Three
pha
se
Wa
s
h
i
n
g Ma
ch
ine
Th
is
is a
n
o
p
en acces
s a
r
ti
cle u
n
d
e
r t
h
e
CC
B
Y
-S
A
li
cens
e
.
Corres
pon
d
i
n
g
Au
th
or:
Kh
ali
d
G.
Mh
ammed
,
D
e
p
a
r
t
m
e
n
t
S
c
ie
n
t
if
ic
A
f
fa
i
r
s
,
Un
iv
e
r
sit
y
of
Di
y
a
l
a
, B
a
qu
ba
h
,
I
r
aq
Em
ail: kha
l
i
d
_
a
l
k
a
i
se
e
@
e
n
g
i
nee
r
i
ng.u
o
d
i
y
a
l
a.e
du.i
q
1.
I
N
TR
OD
U
C
TI
O
N
The
Ther
e ar
e m
a
ny ty
pes o
f
con
t
ro
l u
n
i
ts
which a
r
e
use
d
i
n
the
con
t
rol fiel
d o
f
el
ec
t
r
i
c
a
l
an
d
me
cha
n
ic
al
e
q
uipm
en
t’s.
Most
of
ele
c
tr
ica
l
m
achine
s
such
as
sing
le or t
h
r
ee-
ph
a
s
e AC
ind
u
c
tio
n m
o
t
o
rs,
A
C
S
ync
hr
on
o
u
s m
o
t
o
r
s
an
d D
C
m
o
t
o
rs
de
p
e
nd
m
a
in
l
y
o
n
the co
n
t
ro
l
feed
ba
c
k
u
n
i
t
s
to achie
ve
o
p
t
i
mum
perform
ance
s
[1]
.
The
fee
d
b
a
ck con
t
ro
l
un
i
t
s which are
us
ed wit
h
the motors are
c
o
mposed of d
i
ffer
en
t
types
of se
ns
iti
ve ele
c
t
r
onic
de
v
i
ce
s
:
sens
ors, transm
i
tter
s
,
c
o
mpa
r
ator,
a
nd
ser
vo-co
ntro
l
l
e
r
[2
].
A contro
ller un
it i
s
very
si
gn
ifica
n
t to ge
t
the
st
e
a
dy sta
t
e i
n
sh
orter
t
i
m
e
a
nd to reduc
e t
h
e r
i
se
ti
m
e
,
over
s
ho
o
t
i
n
g and se
tt
l
i
n
g
ti
m
e
[3].
Thi
s
pa
per prese
n
ts t
w
o
m
a
in
d
e
vel
o
pme
n
ts conce
r
n
the m
echa
n
i
s
m
of th
e w
a
shin
g
m
achi
n
e
:
app
l
yi
ng
ar
mat
u
r
e
con
t
ro
l w
h
ic
h
al
low
s
t
o
c
ont
r
o
l
t
h
e
spe
e
d
o
f
se
para
t
e
l
y
exc
i
t
e
d dc
m
o
t
o
r
usi
n
g P
I
D
con
t
ro
l
l
er,
m
o
del
l
i
n
g
the s
y
s
t
e
m
of the D
C
motor an
d us
i
ng MATLA
B fo
r repr
esenti
n
g
t
h
e pe
rform
anc
e
and
ana
l
yz
i
n
g the
who
l
e con
t
ro
l
sys
t
em
.
2.
GE
N
E
RAL SETUP OF
W
A
SHI
N
G
M
A
CHINE
The
w
a
sh
in
g m
achine
i
s
a
n
appa
ra
tus w
h
ic
h is c
a
pa
b
l
e of
opera
t
i
n
g
i
n
c
onsta
nt c
h
an
g
i
ng
lo
a
d
an
d
ca
n be fou
n
d
u
s
i
ng ei
the
r
A
C
or D
C
m
o
to
r
.
The
mot
o
r spe
e
d i
n
cre
a
ses or de
cre
a
ses de
p
e
nd
i
ng
on
the
l
o
a
d
.
V
a
r
y
i
n
g of m
o
tor spee
d w
i
t
h
vary
in
g the
l
o
a
d
cause
s de
cre
a
se the effic
i
e
n
c
y
o
f
the
mot
o
r and t
h
en de
c
r
ea
se
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
t
J P
o
w
Elec
& D
r
i
S
y
st
I
S
S
N
: 2088-
86
94
Ap
pl
ie
d m
e
asu
r
em
ent
o
f
the
m
o
t
o
r spe
e
d
c
o
ntro
l
l
er fo
r wa
sh
i
n
g
…
(
K
h
a
l
i
d
G
.
Mham
m
e
d)
4
43
the
spee
d
the
ma
chine
ag
it
a
t
or
[
4
]
.
S
o
,
it is
ve
r
y
ne
ce
ssa
r
y
to
get a goo
d
p
e
r
f
or
ma
nce
o
f
t
h
e
m
a
c
h
i
n
e
w
e
ha
ve
to
get
the s
p
e
e
d
an
d tor
que
c
ons
ta
n
t
s
when
eve
r
the l
o
a
d
i
s
cha
n
ged. W
h
en t
h
e p
o
we
r that
is supp
l
i
e
d
to t
h
e
f
o
u
r
-
p
o
l
e m
o
tor
,
the
r
a
ted
spe
e
d r
eac
hes slig
ht
l
y
ar
oun
d 15
00 r
p
m a
t
no-
load c
o
n
d
i
t
i
o
n
.
Th
is r
a
t
e
d spe
e
d
is
hi
g
h
and
i
s
ve
ry diff
i
c
ult to r
un wit
h
a loa
d
e
d
ag
ita
t
o
r in the w
a
shing ma
chine.
There
f
ore
,
the
speed
o
f
th
e
ag
i
t
a
t
o
r shou
l
d
b
e
re
d
u
c
ed
t
o
su
it
abl
e
an
d
sa
f
e
l
o
ad
sp
ee
d. T
h
e
s
a
f
e
l
o
ad
sp
eed
ca
n
be
a
c
h
i
ev
e
d
u
s
in
g
t
w
o
di
ffere
n
t
d
i
am
eter
s
of
t
h
e m
o
tor an
d agi
t
a
t
o
r
pulleys.
The cho
i
ce
o
f
the d
i
am
ete
r
s
is bas
e
d on t
h
e spee
d ra
t
i
o
be
t
w
ee
n the
mot
o
r
a
nd safe
speed
o
f
the a
g
itat
o
r
.
The
se
cond im
p
o
r
t
a
n
t ma
tt
e
r
is how
to kee
p
the sp
ee
d of
t
h
e
ag
it
at
o
r
i
s
in
v
a
r
i
ant
wi
th
t
h
e
v
a
ri
ab
l
e
lo
ad
. T
o
g
e
t
a
c
o
nst
a
n
t
s
p
eed
of
t
h
e a
g
it
a
t
o
r
an
d
i
t
s
mo
to
r wh
a
t
e
v
er
the l
o
a
d
is ch
ange
d r
e
pr
esent
s
t
h
e
ma
i
n
w
o
r
k
of this p
r
ojec
t
.
F
i
g
u
r
e
1
de
p
i
c
t
s a
wash
in
g ma
chi
n
e w
h
ich
co
nt
a
i
ns
t
h
e el
ec
t
r
i
c
a
l
mo
t
o
r, p
u
ll
e
y
s an
d
a
g
it
a
t
o
r
.
F
i
gur
e 1.
R
e
al
a
n
d
i
n
t
e
r
n
a
l
se
ctor
dia
g
r
a
m
of
the w
a
sh
in
g
m
achine [
4
]
.
2.
1.
S
e
p
a
r
e
ly e
x
cit
e
d
D
C
mot
o
r
A
s
per
F
i
gur
e.
2,
t
h
e
equi
va
l
e
nt cir
c
u
it of
the
D
C
motor
is a
t
tac
h
e
d
w
i
t
h
the exte
r
n
a
l
var
i
a
b
l
e
loa
d
on t
h
e ar
m
a
tur
e
sha
f
t of t
h
e
D
C
m
o
t
o
r
.
The equi
vale
n
t
ci
r
c
uit is c
o
mpo
s
ed of two part
s:
the fir
s
t is th
e stator
f
i
e
l
d w
i
n
d
i
n
gs or
m
a
y be pe
rm
anent ma
g
n
e
t
s
a
n
d t
h
e
se
co
nd pa
t i
s
t
h
e r
o
tar
y
a
r
m
a
tur
e
ci
r
c
u
i
t
[
5
-
8
]
.
The
D
C
m
o
tor
use
d
in t
h
i
s
pape
r
is m
a
nu
fa
c
t
ur
e
d
b
y
K
I
Compa
ny (
T
a
i
w
a
n)
w
ith
its
r
a
ti
ng
s
show
n in F
i
gur
e 2.
F
i
gur
e
2.
S
c
hem
a
tic
d
i
a
g
r
a
m
of
t
h
e
D
C
mot
o
r
,
pul
leys,
an
d the
l
o
a
d
i
n
si
d
e
the
w
a
shi
n
g m
a
c
h
ine.
The m
a
in r
e
l
a
tio
n be
t
w
ee
n t
h
e spe
e
d
N
of
the D
C
moto
r
a
nd appl
ie
d vo
lta
ge so
ur
ce
V
dc
on the
a
r
m
a
tur
e
and i
t
s
stat
or
flu
x
φ
can
b
e
id
entified
b
y
(1
).
(1
)
Evaluation Warning : The document was created with Spire.PDF for Python.
ISS
N
:
208
8-
8
6
9
4
I
n
t
J P
o
w
Elec
& D
r
i
S
y
st V
o
l
.
11,
N
o
.
1,
M
a
r
2020
: 44
2 –
45
0
44
4
Whe
r
e
I
a,
i
s
the ar
matu
re cu
rren
t
,
R
a
re
prese
n
ts the a
r
m
a
ture r
e
sist
a
n
ce
,
the ar
ma
ture
in
d
u
cta
n
c
e
re
p
r
es
en
t
s
by
L
a
.
T
m
r
e
pre
s
ent
s
the mo
t
o
r t
o
r
q
u
e
i
n
ne
wt
o
n
-me
t
er (N.m). T
h
e me
asurem
ent
for ro
tat
i
ng
i
n
ert
i
a
of
m
o
tor
bea
r
i
ng i
s
r
e
pr
ese
n
te
d by
J
a
nd da
m
p
in
g coe
f
f
i
c
i
e
n
t
is
expr
e
s
se
d by
B
[9-
13]
.
2
.
2
.
P
I
D
co
ntr
o
ll
er
G
e
ne
r
a
ll
y,
the sche
ma
tic
dia
g
r
a
m of the PI
D contr
o
l
l
e
r
is consis
te
d of thr
e
e
ma
in
pa
r
t
s
a
s
show
n in
F
i
g
u
r
e
3
.
Th
e
re
al
P
I
D
u
s
e
d
i
s
ma
n
u
f
a
c
tu
red
b
y
Tel
e
f
unke
n
C
o
mp
any
(
G
e
r
ma
n
y
)
wh
i
c
h
i
s
a
v
ail
a
bl
e
i
n
t
h
e
e
l
e
c
tr
ic
ma
chi
n
e la
bor
a
t
or
y,
C
O
E,
D
i
ya
l
a
U
n
i
v
er
si
ty a
s
sow
n
i
n
F
i
g
u
r
e
4.
The tr
a
n
s
f
er
func
t
i
on (
T
F
) of
t
h
e
P
I
D contr
o
l
l
er
c
a
n be r
e
pr
ese
n
te
d by (
2
)
.
Wher
e
t
h
e
P
I
D p
a
r
a
m
e
ter
s
a
r
e
P
r
opor
t
i
o
n
a
l
ga
i
n
(
K
p
), In
teg
r
al
g
a
i
n
(
K
I
)
and
th
e
de
r
i
va
tive
ga
i
n
(
K
d
)
[14-
18]
.
(2
)
Er
r
o
r
K
p
K
I
/ S
K
D
S
+
T
F
F
i
gur
e
3.
S
c
hem
a
tic D
i
a
g
r
a
m
of
the
P
I
D
con
t
r
o
ller
w
h
ic
h is
use
d
t
o
cor
r
ec
t and
r
e
duc
e
the
er
r
o
r
.
F
i
gur
e 4.
The
r
eal t
o
r
que
/spe
e
d
c
o
n
t
r
o
lle
r
used in
t
h
e t
e
s
t
is mode
l
l
e
d
as EM-
3
32
0-
1A
by
w
h
ich
i
s
ava
ila
b
l
e
in t
h
e e
l
ec
tric
m
a
c
h
i
n
e
la
bora
t
or
y,
COE, Universi
ty o
f
Diya
la.
The ma
them
atic
al r
e
lati
o
n
s
a
m
ong the
thr
e
e par
a
me
ter
s
K
p
, K
I
and
K
d
of t
h
e PI
D
contr
o
l
l
er
and thei
r
e
ffe
c
t
s o
n
t
h
e
r
e
spons
e pa
r
a
m
e
ter
s
:
r
i
se
t
i
m
e
,
ove
r
s
h
o
o
t
,
sett
l
i
n
g
t
i
m
e
a
nd s
t
e
a
dy s
t
a
t
e
er
r
o
r
[19-
2
2
]
ar
e
show
n i
n
Ta
bl
e 1.
Tab
l
e
1.
Expe
c
t
ed
tu
nn
i
ng b
e
hav
i
our
of
t
h
e r
e
spo
n
se pa
r
a
m
e
te
r
s
of
the P
I
D
con
t
r
o
l
l
er
.
P
a
r
a
met
e
r
R
i
s
e
T
i
me
Ove
r
shoot
Se
t
tling T
i
me
Ste
a
d
y
st
a
t
e e
r
r
o
r
K
p
D
e
c
lin
e
R
i
se
Li
ght
C
h
a
nge
De
cli
n
e
Ki De
clin
e
Rise
Ris
e
R
e
m
o
v
e
Kd
Li
g
ht C
h
a
n
g
e D
e
c
lin
e
De
cl
in
e
Li
g
ht
C
h
a
n
g
e
The tac
h
om
ete
r
use
d
i
n
th
is exper
i
m
e
nt
i
s
m
a
nu
fa
c
t
ured
b
y
Te
lefu
nke
n,
G
e
rm
any.
I
t
will be use
d
as
a
n
in
str
u
m
e
n
t
to m
easur
e t
h
e
r
o
tat
i
n
g
spee
d
of
the
use
d
e
l
e
c
tr
ica
l
m
a
c
h
ine
.
The vo
l
t
a
ge gene
r
a
te
d by t
h
e
t
a
cho
m
et
e
r
E
ta
c
is gi
ven b
y
:
.
(3
)
W
h
ere
t
h
e
sy
mb
o
l
s
K
tac
is a
pr
o
p
or
ti
ona
l
co
n
s
t
a
nt an
d
N
tac
is t
h
e
an
gu
lar
ve
l
o
c
ity of
t
h
e ta
chom
et
er
.
The
tra
n
sfer
fu
nct
i
on o
f
the
DC m
o
t
o
r is
clarifie
d
in F
i
g
u
re
5.
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
E
l
e
c
&
D
r
i
S
y
st
IS
S
N
:
2088-
86
94
Ap
plie
d
m
e
asu
r
em
e
n
t o
f
t
h
e
m
o
tor
spee
d
co
nt
ro
l
l
er fo
r wa
sh
ing
…
(Kh
a
l
i
d
G
.
Mham
m
e
d)
4
45
Ea
(
s
)
1
/ (
L
as
+
R
a
)
K
p
K
T
1
/ (
J
s
+
B
)
N(
s
)
+
‐
F
i
gure 5. Bl
oc
k di
a
g
ram
of
c
l
ose-
loo
p
co
ntr
o
l
l
e
d
sys
t
em
of t
h
e
sepa
rate
l
y
exci
te
d D
C
motor in the
w
a
sh
i
n
g ma
chi
n
e
w
i
th
ou
t
P
I
D
c
o
n
t
ro
lle
r.
.
.
(4
)
I
n
the D
C
mot
o
r,
arm
a
ture
in
duc
t
o
r
L
a
can b
e
ne
g
l
e
c
te
d d
u
e
to
i
t
s sm
all
v
a
lue
in pr
acti
c
e
,
so, th
e
T
F
(s)
can
be
sim
p
lif
i
e
d t
h
ro
u
gh (
5
) a
nd (6).
.
(5
)
let. (5) =
D
c(s
)
.
.
(6
)
den
o
m
i
na
tor
of
the (
6
) c
a
n be
e
xpresse
d
int
o
(7
)
the m
o
t
o
r ga
in
K
m
i
n
v
o
l
v
es f
o
ur pa
ram
e
ter
s
:
R
a
, B
,
K
b
and
K
T
a
s
show
n i
n
(
8
).
.
(8
)
the t
i
m
e
c
onsta
nt
o
f
t
h
e
D
C
motor
τ
is
g
i
ve
n as:
(9
)
The
t
r
ansfer
func
t
i
on of
t
h
e
com
p
lete
d DC motor ele
c
tr
ic con
t
ro
l circui
t app
l
i
e
d in the pro
p
o
sed
elec
tr
ic
w
a
shin
g ma
chine is cl
arifie
d i
n
Fig
u
re
6.
Ea
(
s
)
P.I
.
D
Ta
ch
o
M
e
t
e
r
DC
M
N(
s
)
+
‐
1500 r
p
m
R
a
n
dom
Lo
ads
F
i
gur
e 6.
Bl
o
c
k D
i
agr
a
m
of
clo
s
ed
lo
op-c
o
n
t
r
o
lle
d
syste
m
of t
h
e
separ
a
te
l
y
e
x
ci
t
e
d D
C
m
o
t
o
r
i
n
the
w
a
sh
in
g m
achi
n
e
w
ith
PI
D c
ontro
ller
.
2.3.
Fee
d
f
o
rward
c
o
n
t
r
o
ll
e
r
I
t
is a
se
t
of meth
o
d
s a
nd pro
c
e
dures used b
y
th
e de
si
g
n
er
to ide
n
tify a
n
d
di
sc
ove
r any factors tha
t
ma
y
lim
it the
succ
ess
o
f
t
h
e
pr
ocess in de
t
e
rm
ini
n
g
the ta
rget
e
a
r
l
y s
o
it is
ca
l
l
e
d
P
r
e-
censorsh
i
p, thus for
avo
i
di
ng an
y pro
b
l
e
ms an
d
m
oni
tor
i
ng a
n
y
c
h
a
nges.
A
t
the o
p
era
t
i
o
n
a
l l
e
vel, pri
o
r
c
o
n
t
r
o
l
re
qu
ire
s
the
d
e
si
gn
e
r
to
fo
c
u
s
hi
s
effo
rt
s t
o
ward
s
sel
ectin
g
i
nput
s,
o
u
tpu
t
s a
n
d
p
r
o
c
e
d
u
r
e
s
wi
t
h
c
o
m
p
l
e
t
e
c
a
r
e
t
o
mi
ni
mi
ze
Evaluation Warning : The document was created with Spire.PDF for Python.
ISS
N
:
208
8-
8
6
9
4
I
n
t
J P
o
w
Elec
& D
r
i
S
y
st V
o
l
.
11,
N
o
.
1,
M
a
r
2020
: 44
2 –
45
0
44
6
po
te
nt
ia
l
pr
o
b
le
ms.
In
the st
r
a
teg
i
c le
vel, p
r
e
-
ce
nsor
ship is desig
n
e
d
t
o
aler
t
and war
n
the desi
g
n
er
of an
y
pr
act
ica
l
cha
n
g
e
s tha
t
wil
l
affec
t
lo
n
g
-term
objec
t
i
v
e
s
[2
3,
24].
2
.
4
.
Li
n
e
a
r
qua
dra
t
ic
co
nt
r
o
ller
The g
o
al
o
f
t
h
is the
o
ry i
s
to con
t
ro
l
t
h
e ide
a
l
perfo
rma
n
ce
of
the sy
stem
a
t
the
lowe
s
t
ec
o
nomic
c
o
st
.
The
syst
em
is
de
scr
i
bed
b
y
a
se
t
of
dif
f
er
en
t
i
al l
i
near
e
qua
t
i
o
n
s.
The
c
o
st
i
s
descr
i
be
d by
a
quadr
a
tic
fu
nc
ti
on
c
a
lle
d
LQ.
On
e
of
t
h
e
m
o
st i
m
por
tan
t
result
s of the
th
e
o
r
y
is to
obta
i
n
a
fe
edba
ck system
with
the
LQR
sys
t
em
, whi
c
h
is pa
rt o
f
the L
Q
G
soluti
o
n
.
The ma
t
h
e
m
a
tic
al
a
l
gor
ithm
that co
ntr
o
ls t
h
e
c
o
st
reduc
tio
n proce
s
s at
th
e sa
m
e
t
i
m
e
c
o
n
t
ro
ls
th
e
r
e
duc
ti
o
n
of
de
vi
a
t
i
o
ns fr
om
t
h
e
ma
i
n
g
o
a
l
,
suc
h
a
s
vo
l
t
ag
es or
spee
d.
The r
e
sults w
i
l
l
be com
p
ar
ed
w
ith t
h
e
r
e
fe
r
e
nc
e ob
je
c
t
i
v
es
of
t
h
e r
e
qu
ir
ed de
sig
n
,
w
h
ich a
r
e c
ons
ide
r
ed a
s
stan
dar
d
o
b
je
ct
ive
s
.
The
pr
oc
ess of
c
o
n
t
r
o
l
is a
n
i
t
e
r
ati
v
e pr
oc
ess
,
a
nd in t
h
e end
t
h
e
par
a
me
te
r
s
ar
e
adju
ste
d
t
o
pr
od
uce th
e
best val
u
es f
o
r
the
sys
t
em
goal.
The fro
n
t
al
fe
e
d
sys
t
e
m
in t
h
i
s
m
e
th
od is to
a
d
jus
t
t
h
e
c
o
n
t
ro
l
o
f
t
h
e ta
rget var
i
ab
le
no
t
ba
se
d on
e
r
r
o
r as i
n
the
P
I
D
me
thod.
I
t
is based o
n
pr
a
c
t
i
cal k
now
l
e
d
g
e
of
t
h
e me
asur
e
of di
s
t
u
r
ba
n
c
e in the
sig
n
a
l
ba
se
d
o
n
a m
a
them
at
ica
l
m
ode
l [
2
5
-
2
8
]
.
F
i
gur
e
7 s
h
ow
s
the
na
me
pl
ate
of
the D
C
m
o
t
o
r
use
d
i
n
t
h
e
test
whic
h
is
ava
i
la
ble
i
n
Elec
tric
Ma
c
h
i
n
e La
b
o
rator
y
,
COE, Uni
v
ersi
t
y
of
Di
yala.
F
i
g
u
r
e
7.
P
hoto
of
the
D
C
mot
o
r
w
h
ic
h is u
s
ed
in
t
h
e
tes
t
.
Elec
tric
Mac
h
ine
Lab
o
r
a
tor
y
, COE,
Uni
v
er
sity o
f
Diya
la.
3.
EX
PERE
M
E
NTAL
RESULTS
AN
D D
I
S
C
U
SSION
In Based on Table 2, the motor
will be
tes
t
ed under 1500 rpm with random
l
o
a
d
s
.
K
par
a
m
e
ter
or
c
a
lle
d
t
o
r
que
/a
m
p
e
r
e
is the
relat
i
on
be
twe
e
n
t
h
e
torq
ue
of
the
DC
m
o
tor sha
f
t a
nd t
h
e
in
pu
t
ar
ma
t
u
r
e
c
u
rr
ent.
P
r
ac
ti
c
a
l
l
y,
t
h
e
r
a
tio ca
n
be d
e
t
e
r
m
i
n
e
d
b
y
app
l
yi
n
g
a va
r
i
able
tor
que
to
t
h
e
s
h
af
t a
nd
me
asur
in
g t
h
e
dr
aw
n
arma
t
u
re
cu
rre
n
t
of
mo
t
o
r. T
h
e
b
par
a
m
e
ter or
ca
l
l
e
d
v
o
lt
/
s
pee
d
pa
ram
e
te
r is the re
l
a
tion be
tween
th
e
i
n
p
u
t
vo
l
t
age
of
t
h
e
D
C
m
o
t
o
r
an
d the s
h
aft spee
d
.
Mome
nt
o
f
i
n
er
tia
is de
ter
m
ine
d
m
a
t
h
e
m
a
t
ica
l
ly de
p
e
n
d
i
n
g
o
n
the
sum
m
a
ti
o
n
of i
n
ert
i
as ro
t
o
r a
nd
loa
d
m
a
sses a
nd
its d
i
am
eter
. Arma
t
u
r
e
re
si
sta
n
c
e
R
,
is me
asur
ed usi
n
g
a
n
O
h
m
m
e
t
er dir
e
c
t
l
y
.
I
nduc
t
a
nc
e
of t
h
e
ar
ma
t
u
r
e
,
is
deter
m
ined
pr
ac
t
i
c
a
ll
y b
y
a
p
p
l
yi
n
g
a
low
A
C
voltage
o
n
the
tw
o ter
m
inal
s of
the a
r
m
a
tur
e
and
me
asur
i
ng t
h
e
passi
n
g
cur
r
ent.
C
a
l
c
u
l
a
tin
g
t
h
e
im
peda
nc
e
of
the
a
r
m
a
tur
e
r
e
quir
e
s in
f
o
r
m
ati
on of
R
whi
c
h
is
fo
und
to
b
e
L
= 2.
75µ
H
.
Th
e expe
r
i
me
n
t
a
l
va
lue
s
of
K,
b
,
J
and
R
ar
e
m
e
nti
one
d
in Ta
ble 2.
Table 2
.
Parameters
setup
.
K
(Nm
/
A
)
b
(Vs/ra
d
J
(Nm
s
2
/r
a
d
)
R
(
Ω
)
0.
5217
0.
625
0.
001
8
5.
8
Ther
e a
r
e
three
ca
se stu
d
i
es whic
h ar
e im
plem
ent
e
d
usi
n
g MATLA
B c
o
d
i
ng.
Ea
ch s
t
ud
y e
x
p
l
a
i
n
s
the d
i
f
f
e
r
e
nces
be
t
w
een tw
o ou
t
p
u
t
r
e
spo
n
s
e
s due to tw
o i
n
p
u
ts
: idea
l ste
p
and d
i
s
t
ur
ba
nc
e step.
The
ou
tpu
t
r
e
spo
n
se
ar
e st
eady s
t
a
t
e e
r
r
o
r
,
over
s
ho
ot,
se
t
t
l
i
n
g
t
i
m
e
a
nd r
i
se
tim
e.
F
i
gur
e
8 e
x
p
l
a
i
n
s
t
h
e
a
n
g
u
l
ar
v
e
l
o
c
i
t
y
re
sp
on
s
e
to
d
u
e t
o
a st
e
p
c
h
an
g
e
in
vo
lt
ag
e
.
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
E
l
e
c
&
D
r
i
S
y
st
IS
S
N
:
2088-
86
94
Ap
plie
d
m
e
asu
r
em
e
n
t o
f
t
h
e
m
o
tor
spee
d
co
nt
ro
l
l
er fo
r wa
sh
ing
…
(Kh
a
l
i
d
G
.
Mham
m
e
d)
4
47
T
a
b
l
e 3.
Con
t
i
n
u
o
u
s-t
i
me
stat
e-spa
ce
mode
l
para
me
ters.
a
b
c
d
X1
X2
U
1
U
2
Y1
U1
U2
X
1
-
3
4
7
.
2
1.
18×
10
4
0
32
17.
36
0
0
X2
0
-
2
.1
×1
0
6
512
0
0
F
i
g
u
r
e
8
.
The
a
n
g
u
l
ar
ve
loc
i
t
y
r
e
sponse t
o
a step
cha
n
ge
i
n
v
o
l
t
a
g
e.
3.1.
Fee
d
forw
ard
con
t
rol
d
e
si
gn
The
Roo
t
loc
u
s of the sys
t
e
m
w
i
t
h
usin
g i
n
te
gra
t
or
K
/
s
i
s
show
n
i
n
F
i
g
u
re 9. The
roots
of t
h
e D
C
mo
t
o
r sy
st
em u
s
ed
ex
p
l
a
i
n
s
t
h
at
th
e
sy
st
e
m
i
s
st
ab
l
e
.
Thes
e
roots de
pends
on the entire
syst
em
specif
i
ca
ti
ons.
F
i
gur
e 9.
Ro
ot
loc
u
s o
f
the s
y
stem
w
ith us
i
ng
in
t
e
grat
or
K
/
s.
3.2.
LQR
c
o
ntr
o
l d
e
si
gn
To fur
t
her im
p
r
ove pe
rform
a
n
c
e
,
t
r
y desi
gn
i
n
g a
line
a
r qu
a
d
rat
i
c
regulator (
L
QR
) f
o
r the f
e
edback
st
r
u
c
t
ure sh
ow
n
bel
o
w
i
n
F
i
g
u
re
10.
-1
5
-1
0
-5
0
5
-1
5
-1
0
-5
0
5
10
15
Ro
o
t
L
o
c
u
s
R
e
al
A
x
i
s
(
s
ec
o
n
d
s
-1
)
I
m
ag
i
nar
y
A
x
i
s
(
s
ec
onds
-1
)
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N
: 208
8-
869
4
Int J
P
o
w
E
l
e
c
&
D
r
i
S
y
st
V
o
l
.
11,
N
o
.
1, Mar
202
0 : 44
2
– 45
0
44
8
F
i
gur
e 1
0
.
This
plo
t
com
p
ar
es the
cl
ose
d
-l
o
o
p
Bo
de dia
g
ram
s
for
the
thr
ee des
i
g
n
s.
C
o
m
p
a
r
is
on of
t
h
e
thr
ee de
si
gns
in
F
i
gure 11, t
h
e i
n
p
u
t
si
gna
l ta
kes t
h
e
ze
ro val
u
e f
o
r fi
ve sec
o
n
d
s
and
th
en sub
t
r
a
cts the
t
o
rq
ue
va
lue
t
o
-0.
1
f
o
r 5
se
co
n
d
s. Th
is d
i
s
t
ur
b
a
n
c
e
in
the
ou
tpu
t
sig
n
a
l
on
the
l
i
p w
i
ll
be exa
m
i
n
ed a
nd
t
e
st
e
d
i
n
th
r
ee ca
ses:
the
ou
tpu
t
resp
ons
e in
t
h
e ca
se
o
f
us
in
g
fee
d
forwa
r
d system
i
s
as
show
n in
bl
ue
col
o
r li
ne
be
ha
ve
s
as a
pulse
acc
ord
i
n
g
t
o
th
e
t
o
r
que
in
p
u
t
si
gn
a
l
Td.
If the
sa
me inpu
t si
gna
l Td i
s
used t
o
cha
nge t
h
e in
p
u
t
tor
que w
i
t
h
t
h
e fe
ed bac
k
root loc
u
s,
the out
put
respo
n
se in t
h
e
gre
e
n color w
i
l
l
nee
d
m
o
re t
i
m
e
to rea
c
h th
e stabi
l
i
t
y sta
t
e
,
ie, the transie
n
t per
i
o
d
is grea
ter
tha
n
t
h
e
firs
t.
In
t
h
e
ca
se
o
f
fe
ed
in
g
LQR, t
h
e
c
h
ang
e
i
n
ou
tpu
t
res
p
o
n
s
e
(re
d
l
i
n
e
) wi
t
h
c
h
ang
e
i
n
i
nput
t
o
rq
u
e
Td
is be
t
t
er
betw
e
e
n the
tw
o
previ
o
us
c
a
ses fe
e
d
forw
a
r
d and
feeba
c
k
.
In spi
t
e
o
f
t
h
e d
i
st
urba
nce i
n
t
h
e
in
p
u
t
signa
l
Td, the e
x
terna
l
r
e
sp
ons
e is goo
d and sta
b
le.
The tra
n
si
n
t
pe
ri
od d
o
es no
t exce
ed o
n
e
and
a half
seco
nds,
and
th
e
c
h
ange
in
the
a
m
ount o
f
ex
t
e
r
n
al si
gna
l d
o
e
s
no
t
exc
eed
0
.
2.
F
i
gure 1
1
.
S
e
tpoi
n
t
trac
kin
g
and
d
i
s
t
ur
bance
re
ject
io
n
4.
CONCL
U
S
ION
Th
is pa
per
pr
esen
ts stud
y o
f
three
me
t
h
o
d
s
of co
ntro
l t
o
m
odify an
d corr
ect the dr
o
p
p
i
ng in t
h
e
spee
d of t
h
e e
l
ectr
i
c
a
l
m
o
t
o
r
of
a
w
a
shing ma
ch
ine d
u
e to su
dde
n or p
r
e-star
t
i
ng
l
o
a
d
s. The fee
dbac
k
con
t
ro
l
l
er cons
ists of
c
o
mpa
r
a
t
ors suc
h
a
s
P
I
D
,
LQ
R
a
nd
fe
ed forw
a
r
d
to
ma
ke i
m
prove
me
n
t
an
d mini
miz
i
n
g
to the
di
f
f
er
en
ce
betw
ee
n
th
e
actual a
n
d se
t
t
i
ng spee
d of
the
motor under
variab
le l
o
a
d
s.
The
ac
tu
al/
r
ea
l
motor
i
s
me
asured
and t
h
e
para
me
t
e
rs a
r
e
im
plem
ente
d in
t
o
MATLAB cod
i
ng t
o
em
ulate
in
rea
l
it
y t
h
e
op
tim
ize
d
perf
orm
a
nce
of th
e motor in re
q
u
i
r
e
d
c
a
se st
udy.
I
t
is obser
ve
d from the e
xper
i
m
e
nt tha
t
in the
-4
0
0
-3
0
0
-2
0
0
-1
0
0
0
Fr
o
m
:
w
r
ef
To
:
w
10
0
10
5
-2
7
0
-1
8
0
-9
0
0
90
To
:
w
Fr
o
m
:
Td
10
0
10
5
Bo
d
e
D
i
a
g
r
a
m
F
r
eq
ue
nc
y
(
r
a
d
/
s
)
M
a
gn
i
t
u
d
e (
d
B
)
; P
h
as
e (
d
eg)
0
5
10
15
-0
.
2
0
0.
2
0.
4
0.
6
0.
8
1
1.
2
To
:
w
S
e
t
poi
nt
t
r
ac
k
i
ng a
nd d
i
s
t
ur
ban
c
e
r
e
j
e
c
t
i
o
n
T
i
m
e
(
s
ec
on
ds
)
A
m
p
l
i
t
ude
f
eed
f
o
r
w
ar
d
f
eed
bac
k
(
r
l
o
c
us
)
f
eed
bac
k
(
L
Q
R
)
Evaluation Warning : The document was created with Spire.PDF for Python.
Int J
P
o
w
E
l
e
c
&
D
r
i
S
y
st
IS
S
N
:
2088-
86
94
Ap
plie
d
m
e
asu
r
em
e
n
t o
f
t
h
e
m
o
tor
spee
d
co
nt
ro
l
l
er fo
r wa
sh
ing
…
(Kh
a
l
i
d
G
.
Mham
m
e
d)
4
49
ca
se
of a ste
p
respo
n
ses cha
n
ge in the D
C
motor,
it
is
prefer
able t
o
use
a LO
R
c
ont
r
o
l
r
a
ther tha
n
PID, and
PID i
s
b
e
t
t
e
r
t
h
a
n
f
e
edf
o
rward wh
i
l
e
t
h
e co
st
o
f
f
eed
fo
r
w
ard
is
the be
s
t
of a
l
l
co
n
t
ro
l m
e
th
ods P
H
D
and LQ
R.
REFE
RENCES
[1]
B.
J.
Cha
l
meres
.
,
"El
ectri
c
m
o
t
o
r h
a
nd
boo
k,
"
L
o
nd
o
n
:
B
u
t
t
e
r
w
or
th
s
, 19
88
.
[2]
B. K
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s
e
., "M
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o
wer
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ni
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v
es,
"
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e
n
n
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ee, U
S
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r
ent
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c
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R
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han, T. U
n
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ron
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cs: con
v
erters
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ons, an
d desig
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,"
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w York: Wil
e
y
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[4]
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a
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u
shtaq
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e
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b
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n
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oham
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e
d, Ham
d
an
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a
n
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yal., "P
ID
P
a
ram
e
t
e
rs
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r
ov
em
e
n
t f
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T
h
ree P
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-Co
n
n
ected
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t
em
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iver
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echn
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.
Ham
d
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ig
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rical
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ines
,"
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.
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a
w
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,
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urse
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cal mach
in
e des
i
gn,
" Dh
anp
a
t rai
a
ns
’
so
ns
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i
Sara
k
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lhi
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e
J., "El
e
ct
ric m
ach
in
e
s
, analy
s
is an
d d
e
si
g
n
app
l
yi
ng
m
a
tl
a
b
,"
Cathey
,
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492
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.
[9]
Khal
id
G.
M
o
h
a
m
m
a
d.,
"
N
ew
desi
gn
correl
a
ti
ons
f
o
r s
i
ngle
phas
e
i
n
d
u
cti
o
n
m
o
t
o
r
sq
uirrel
cag
e
,
"
Diya
la
Jou
r
n
a
l
of
Eng
i
n
eeri
n
g
Scie
n
ces
,
vo
l. 0
3
, n
o
. 2, pp
. 1
3
4
-
1
4
4
,
D
ecemb
e
r 2010
.
[10]
Dr. S
e
tt
ar S. Keream
,
Kh
ali
d
G
.
M
o
hamm
ed,
Mayy
ada
S
a
hi
b
Ib
rah
i
m
.
,
"Anal
y
s
i
s
stu
dy In
P
r
i
n
ciples
Of
Operation
Of D
C
m
achin
e,"
Jou
r
o
f
A
d
v R
e
sea
r
ch
in
Dyn
a
mi
cal
&
Contr
o
l
Sys
t
ems
,
v
o
l.
10
, n
o
.
2
,
p
p
.
23
23-232
9,
20
18.
[11]
Khal
id
G.
M
ohamm
ed
, AQ Ram
l
i
,
U
AA A
m
iruld
d
i
n
.,
"
A
n
e
w
app
r
oach
in
des
i
g
n
i
n
g
a sm
all
t
h
ree-ph
a
s
e
sy
nc
h
r
on
ou
s m
a
c
h
ine
,
"
Int
e
rna
t
ion
a
l
Revi
ew on
M
o
d
ellin
g a
nd Simula
ti
ons
,
v
o
l.
6
,
pp
.
1
10
3-11
1
1
,
2
0
1
3
.
[12]
S
t
eph
e
n J. Ch
ap
m
a
n.
, "Elect
ric
M
ach
in
ery
F
u
n
d
am
en
tals,"
McGraw
-
H
i
ll
, 19
91.
[13]
S
e
t
t
ar S.
Keream
,
K
h
alid G
.
Moh
a
mm
ed
,
M
a
yyad
a
h S
a
hi
b Ibrah
i
m
.
,
"An
a
ly
si
s st
ud
y
in
P
r
in
cip
l
es of
O
p
eration of
DC M
achi
n
e,"
Jo
ur
o
f
Ad
v Res
e
arch
i
n
D
y
nam
ic
a
l
&
Co
n
t
rol S
y
s
t
ems
,
vol.
1
0
,
pp. 2
323
-23
2
9
,
20
1
8
.
[14]
Georg
e
M
c
P
h
erso
n.
, "An
introd
u
c
t
i
o
n
t
o
el
ectri
c
a
l
m
achi
n
es
and
tran
sf
orm
e
rs,"
J
o
hn
Wi
le
y
&
S
o
n
s
,
19
81
.
[15]
Khal
id G.
M
o
h
a
mm
ed
, A.
Q.
Ram
l
i,
U.
A.
Ungku
Ami
r
u
l
dd
in
.
,
"des
ign
of
outer ro
tor sin
g
l
e
phase s
q
u
i
rrel cage
induction motor,
"
Internat
i
o
nal
R
eview on Mode
lling
&
Simu
l
a
ti
o
n
s
,
vol.
5,
p
p
.
245-25
5,
20
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era
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a
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.
K.
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Khal
id G. M
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m
ed
,
A
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m
l
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UA
U
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m
irul
dd
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n
o
vel
des
i
g
n
of
DC-A
C elect
rical
m
a
ch
in
e rot
a
ry
conv
erter f
o
r hybri
d
s
o
l
a
r and
wind
energ
y
ap
pl
ic
at
ion
s
,
"
IO
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Conf
eren
ce Ser
i
es: Ea
rth
a
nd En
v
i
ronm
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,
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"
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bl
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s
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a
n
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t
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R
u
z
l
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ni Ghoni, Ahm
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d N Abdall
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M
o
hd
Razali
Daud
,
You
ssif
A
l
M
a
s
h
h
a
d
a
ny
.
,
"Rob
u
s
t
dyn
am
ic in
vers
e con
t
rol
l
er
for sp
ace
cr
af
t
m
o
d
e
l,
"
Int
e
rn
a
t
i
o
n
a
l
j
our
nal of
s
c
ien
t
ific res
e
arch
(
I
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R)
,
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. 3
,
p
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1
7
,
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[20]
S
e
t
t
ar
S
.
Keream
, Ahm
e
d N
A
b
dall
a,
M
ohd
Ra
za
l
i
Bin
D
a
ud
., "non
li
near
dy
nam
i
c in
vers
e co
ntro
ll
er b
a
sed
i
n
fiel
d
oriented
w
ith S
V
P
W
M
current
control,"
S
c
ience &
T
e
ch
no
lo
gy
,
v
o
l
.
2
5
,
pp.
37
-4
4
,
20
17
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[21]
R.
B.
As
ho
k &
B.
M.
K
u
m
a
r, "
P
erf
o
rman
ce
an
al
ys
is
of
high
-p
o
w
er brus
hl
ess
D
C
m
o
t
o
r driv
e
,
"
i
n
Ad
vances
in
Po
we
r S
y
ste
m
s a
n
d
Ene
r
g
y
Ma
na
ge
me
nt
,
ed
: S
p
rin
g
er,
p
p
.
71
9-72
8,
20
18.
[22]
N.
Chu
a
ng,
T.
J.
G
a
le,
R. A
.
Lan
g
m
a
n
.
, "Devel
op
in
g
m
eas
u
r
ing in
du
c
t
an
c
e
s
t
rategies
on
a
di
rect curren
t
m
achi
n
e
usi
n
g
a
D
C
s
o
u
r
ce wit
h
m
a
gn
eti
c
s
a
tu
rati
o
n
,"
In
tern
atio
nal Jou
r
nal of Cir
c
uit
T
h
eo
ry a
n
d Ap
p
l
icati
o
n
s
,
vol
. 4
4
,
pp
. 10
94-11
11,
20
16
.
[23]
Z.
Hu
i,
T.
S
h
u
c
hen
g
,
X.
Xi
, Z.
Na,
"Cont
rol
strat
e
gy of
en
erg
y
sto
r
age con
v
erter with
DC
m
achine char
acteri
s
ti
c
s
,
"
High
Vo
ltag
e
En
gine
e
r
ing
,
vol. 44,
pp
. 1
19-1
2
5
,
2
018
.
[24]
S
.
R.
H
u
n
t
., "
C
al
ib
ra
t
e
d sli
p
d
i
rect
curren
t
(D
C)
machi
n
e," ed:
Goo
g
le P
a
t
e
nts
, 2
017.
[25]
J.
A.
M
e
lk
ebeek.
,
"M
od
elling
an
d
dy
nam
i
c
b
e
h
a
vi
our
of
DC
m
a
ch
in
es",
in
El
ectrical
M
a
ch
in
e
s
a
n
d
D
r
i
ves
,
ed: S
p
rin
g
er,
pp.
57
7-5
8
9
,
20
18.
[26]
J.
A
.
M
e
l
k
eb
eek.,
"DC co
mmu
ta
t
o
r
m
o
t
o
r d
r
i
v
es
"
,
in
Elect
r
i
ca
l
M
a
chines
and
D
r
ives,
ed
: Sprin
ge
r
,
pp.
34
5-3
54,
2018
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[27]
J.
A.
M
e
l
k
eb
eek., "Basi
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con
t
ro
ll
ed elect
ri
cal d
r
i
v
es,'
'
in
El
ectr
i
cal
M
a
c
h
in
es an
d
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r
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ng
e
r
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58,
2
0
18
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e
l
k
ebeek
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a
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ric
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r p
o
w
e
r el
ectro
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r
i
ca
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1
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Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N
: 208
8-
869
4
Int J
P
o
w
E
l
e
c
&
D
r
i
S
y
st
V
o
l
.
11,
N
o
.
1, Mar
202
0 : 44
2
– 45
0
45
0
B
I
OGRAPHIES OF
AUTHO
RS
K
h
ali
d
G
.
M
oham
m
e
d A
s
sist
P
r
of. D
r
. E
n
g
i
n
eer res
e
arch
er in
elect
rical p
o
wer eng
i
neeri
n
g
,
m
achi
n
e
desi
gn
and
p
o
wer
electro
ni
c dri
v
es.
He
has
com
p
leted
hi
s
P
h
D
in
Univ
ersit
y
Tenag
a
N
a
tio
nal,
K
u
a
l
a-Lum
p
ur, M
a
laysia 20
15.
His pra
c
t
i
cal exp
e
rience si
nce
1
9
9
3
was f
o
cu
sed o
n
rep
a
irin
g an
d mai
n
t
e
n
a
nce d
i
ff
e
r
en
t elect
rical
m
achin
es i
n
i
ndus
tri
a
l
f
acto
r
ies
.
Aft
e
r
th
at he
co
mp
let
e
d
M
.
S
c
.
i
n
Bag
hdad
Un
iv
e
r
s
i
t
y
, Iraq
2
0
05
.
He has been
work
in
g
i
n
m
a
nag
i
n
g
and
t
eachin
g sin
ce 20
06
in th
e co
l
l
ege of
e
n
gi
neeri
ng, Di
ya
l
a
, Iraq.
J
a
bbar A
l
-F
a
t
t
a
h grad
uat
e
d f
r
o
m
Un
iv
ersit
y
of
L
eeds
an
d receiv
e
d his B.S
c
.
E
ng.
(H
on
s) in
2
0
0
5
,
M.
S
c
.
Eng.
f
r
om
U
n
i
v
ersiti M
a
laya (2
010) and h
i
s
P
h
.
D
.
in el
ec
t
r
ical
en
gineeri
ng (2
017
)
fr
o
m
Un
iv
e
r
s
i
t
i
T
e
na
g
a
N
a
sion
a
l
.
Du
r
i
n
g
th
e
y
ears 20
06
– 20
10
,
he w
o
rked
as an en
gi
neer
i
n
v
o
lv
es
sit
e
i
n
stall
a
ti
on
, m
a
intenance,
and
con
v
e
r
t
er system
s.
His
m
a
in
interests included
power
el
ectron
i
cs
and
renew
a
ble
energy
sy
s
t
ems.
M
o
ham
m
e
d Rey
a
s
udi
n Basir
Khan is
a res
earch
e
r
,
senior
l
ecturer an
d po
st
gradu
a
te coo
r
di
nato
r
at
Uni
v
ersit
y
of Kual
a Lu
mp
ur,
Mal
a
ys
ia.
Cu
rre
ntl
y
,
he is
wo
rk
ing
on m
i
cro-g
r
id co
nt
rol
s
and
en
ergy m
a
n
a
ge
m
e
nt
syste
m
s. H
i
s res
e
arch
in
terest
in
c
l
u
d
es H
y
b
r
id
Ren
e
wab
l
e En
ergy
S
y
s
t
em,
M
i
c
r
o
-
gri
d
S
y
s
t
em
,
Bu
il
d
i
ng
A
u
tom
a
ti
on
S
y
stem,
Auto
no
mous
T
echn
o
lo
gies
and
E
n
erg
y
M
o
nit
o
ri
ng
and
Harves
ti
ng
D
e
vi
ces. H
e
gradu
a
ted
with a B.
Sc
.
En
g. an
d P
h
D
in
El
ectrica
l
E
ngi
neeri
ng
f
r
o
m
Univ
ersit
i
Ten
a
ga
Nasi
on
al
(UNITEN
)
i
n
2
0
1
1
and
2
016 respect
ivel
y.
He
ha
s
s
e
ven years of
re
s
e
arch
,
t
eachin
g
an
d a
d
m
i
nistration
exp
e
rien
ces
Evaluation Warning : The document was created with Spire.PDF for Python.