You are on page 1of 6


speed and load tor*ue. The simulation results demonstrate that the

L Dinesh

) *da% 1enkatesh1!

+ Santosh kiran2

L 13a%"

Intelligent ,ontroller for Three-Phase Induction Motor -rives
Abstract—This paper presents an intelligent speed control system based on fuzzy logic for a voltage source PWM inverterfed indirect vector controlled induction motor drive. Traditional indirect vector control system of induction motor introduces conventional PI regulator in outer speed loop; it is proved that the lo precision of the speed regulator debases the performance of the hole system. To overcome this problem! replacement of PI controller by an intelligent controller based on fuzzy set theory is proposed. The performance of the intelligent controller has been investigated through digital simulation using M"T#"$-%IM&#I'( pac)age for different operating conditions such as sudden change in reference performance of the proposed controller is better than that of the conventional PI controller. Inde, Terms- +uzzy #ogic! Intelligent controllers! ,onventional PI controller! Induction motor drives! Indirect vector control! %peed control




1 L Dinesh is working as Assistant Professor in ANITS visakhapatnam (email: dinesh !"#$%ahoo&'o&in(& ) *da% venkatesh is working as Assistant Professor in ANITS visakhapatnam + santosh kiran is working as Assistant Professor in ANITS visakhapatnam & L Vjay is working as Assistant Professor in ANITS visakhapatnam .

e e!tri!a "rives goo" "ynami! performan!e is man"atory so as to respon" to the !hanges in !omman" spee" an" tor#$es. These re#$irements of A% "rives !an &e f$ fi e" &y the ve!tor !ontro system. 'ith the a"vent of the ve!tor !ontro metho"( an in"$!tion motor has &een !ontro e" ike a separate y e)!ite" *% motor for high performan!e app i!ations. This metho" ena& es the !ontro of fie " an" tor#$e of in"$!tion motor in"epen"ent y +"e!o$p ing, &y manip$ ating !orrespon"ing fie " oriente" #$antities -1.( -/.. The tra"itiona in"ire!t ve!tor !ontro system $ses

!onventiona PI !ontro er in the o$ter spee" oop &e!a$se of the simp i!ity an" sta&i ity. 1owever( $ne)pe!te" !hange in oa" !on"itions or environmenta fa!tors wo$ " pro"$!e overshoot( os!i ation of motor spee"( os!i ation of the tor#$e( ong sett ing time an" th$s !a$ses "eterioration of "rive performan!e. To over!ome this( an inte igent !ontro er &ase" on 0$22y Logi! !an &e $se" in the p a!e of PI reg$ ator -3.. The f$22y ogi! has !ertain a"vantages !ompare" to ! assi!a !ontro ers s$!h as simp i!ity of !ontro ( ow !ost( an" the possi&i ity to "esign witho$t knowing the e)a!t mathemati!a mo"e of p ant -4.. In this paper app i!ation of f$22y ogi! to the inte igent spee" !ontro of in"ire!t ve!tor !ontro e" in"$!tion motor "rive is investigate". The ana ysis( "esign an" sim$ ation of !ontro er have &een !arrie" o$t &ase" on the f$22y set theory. 'hen a new !ontro strategy of a !onverter or a "rive system is form$ ate"( it is often !onvenient to st$"y the system performan!e &y sim$ ation &efore &$i "ing the &rea"&oar" or prototype. The sim$ ation not on y va i"ates the systems operation( &$t a so permits optimi2ation of the systems performan!e &y iteration of its parameters. 5esi"es the !ontro an" !ir!$it parameters( the p ant parameter variation effe!t !an &e st$"ie". Va $a& e time is th$s save" in the "eve opment an" "esign of the pro"$!t( an" the fai $re of !omponents of poor y "esigne" systems !an &e avoi"e". The sim$ ation program a so he ps to generate rea time !ontro er software !o"es for "own oa"ing to a mi!ropro!essor or "igita signa pro!essor. 6any !ir!$it sim$ ators ike PSPI%7( 76TP( 6ATLA58 SI69LIN: in!orporate" these feat$res. The a"vantages of SI69LIN: over the other !ir!$it sim$ ator are the ease in mo"e ing the transients of e e!tri!a ma!hines an" "rives an" to in! $"e !ontro s in the sim$ ation. To so ve the o&je!tive of this paper 6ATLA58 SI69LIN: software is $se". The s$perior !ontro performan!e of the propose" !ontro er is "emonstrate" at SI69LIN: p atform $sing the f$22y ogi! too &o) -;. for "ifferent operating !on"itions. The !omp ete paper is organi2e" as fo ows< Se!tion II "es!ri&es the in"ire!t ve!tor !ontro system. The "esign an" "es!ription of inte igent !ontro er is provi"e" in se!tion III. The sim$ ation res$ ts( !omparison an" "is!$ssion are presente" in Se!tion IV. Se!tion V !on! $"es the work. II. INDI.40T 140T/. 0/NT./L S5ST4+

is ne!essary to take the fo owing "ynami! e#$ations into !onsi"eration.

θe = ∫ ωe "t = ∫ ( ωr + ωs ) "t = θ r + θ s

( 1)

0or "e!o$p ing !ontro ( the stator f $) !omponent of e !$rrent i"s sho$ " &e a igne" on the " a)is( an" the tor#$e e i !omponent of !$rrent #s sho$ " &e on # a)is( that ea"s to ψ #r = 6 an" ψ "r = ψ r then< Lr "ψ r + ψ r = Lm i"s Rr "t As we ( the s ip fre#$en!y !an &e !a !$ ate" as<
Lm Rr R i#s i#s = r ψ r Lr Lr i"s

( !)

ωs =

( 2)

It is fo7nd that the ideal de'o7pling 'an 8e a'hieved if the a8ove slip ang7lar speed 'ommand is 7sed for making field-orientation& The 'onstant rotor fl7, ψ r and 'an 8e s78stit7ted in e97ation (!(: so that the rotor fl7, sets as
ψ r = Lm i"s
"ψ r =6 "t

( ")

The Sim7link model for s7'h an indire't ve'tor 'ontrol s%stem is shown in the ;ig& 2& This 'ontrol te'hni97e operates the ind7'tion motor as separatel% e,'ited D0 motor so as to a'hieve high d%nami' performan'e <1=: <!=&

0or the high performan!e "rives( the in"ire!t metho" of ve!tor !ontro is preferre" !hoi!e -1.( -/.. The in"ire!t ve!tor !ontro metho" is essentia y same as the "ire!t ve!tor !ontro ( e)!ept that the rotor ang e θe is generate" in an in"ire!t

Sin'e the implementation of off-line t7ning of PI 'ontroller is diffi'7lt in dealing with 'ontin7o7s parametri' variation in the ind7'tion motor as well as the non-linearit% present in the entire s%stem: it 8e'omes of interest to go for intelligent 'ontroller& It is known that the stator and rotor resistan'es of ind7'tion motor ma% 'hange with the temperat7re 7p to #6? and motor ind7'tan'e varies with the magneti' operating point& ;7rthermore: the load tor97e ma% 'hange d7e to me'hani'al dist7r8an'es& The pro8lem 'an 8e solved 8% several adaptive 'ontrol te'hni97es s7'h as model referen'e adaptive 'ontrol: slidingmode 'ontrol: varia8le str7't7re 'ontrol: and self-t7ning PI 'ontrollers: et'& The theor% and s7rve% on model referen'e

manner +estimation, $sing the meas$re" spee" ωr an" the s ip spee" ωs . To imp ement the in"ire!t ve!tor !ontro strategy( it


adaptive s%stem has 8een reported 8% @& S7gimoto et&al <A=& Se'ondar% resistan'e identifi'ation of an I+ applied with +.AS and its 'hara'teristi's has 8een presented in their st7d%& The improved version of sliding mode 'ontrol for an I+ has 8een proposed 8% 0& 5& Bon et&al <C=& The design of integral varia8le str7't7re 'ontrol s%stem for servo s%stems has 8een proposed 8% T& L& 0hern et&al <D=& The self t7ning 'ontrollers are des'ri8ed 8% )& 0& @7ng <E=& @owever: in all these works: e,a't mathemati'al model of the s%stem is mandator% to design the adaptive 'ontrol algorithm& Th7s the% in'rease the 'omple,it% of design and implementation& Bhen f7FF% logi' 8ases intelligent 'ontroller is 7sed instead of the PI 'ontroller: e,'ellent 'ontrol performan'e 'an 8e a'hieved even in the presen'e of parameter variation and drive non-linearit% <1=: <2=& In addition: the f7FF% logi' posses the following advantages: (1( The ling7isti': not n7meri'al: varia8les make the pro'ess similar to the h7man think pro'ess& (!( It relates o7tp7t to inp7t: witho7t 7nderstanding all the varia8les: permitting the design of s%stem more a''7rate and sta8le than the 'onventional 'ontrol s%stem& (2( Simpli'it% allows the sol7tion of previo7sl% 7nsolved pro8lems& ("( .apid protot%ping is possi8le 8e'a7se: a s%stem designer doesnGt have to know ever%thing a8o7t the s%stem 8efore starting work& (#( It has in'reased ro87stness& (A( A few r7les en'ompass great 'omple,it%& The ve'tor 'ontrol of I+ with f7FF% PI 'ontroller has 8een proposed 8% I& +iki et& al <16= and B& P& @ew et&al <11=& As the% reported: the ;L0 a7tomati'all% 7pdates the proportional and integral gains on-line and th7s help in a'hieving fast d%nami' response& @owever: this te'hni97e does not f7ll% 7tiliFe the 'apa8ilities of the f7FF% logi'& +oreover: the inherent disadvantages asso'iated with the PI 'ontroller 'annot 8e avoided& The f7FF% PI 'ontrollers are less 7sef7l in ind7strial appli'ations& The performan'es of the f7FF% logi' 8ased indire't ve'tor 'ontrol for ind7'tion motor drive has 8een proposed 8% +& N& *ddin et&al <1!=: 4& 0err7to et&al <12=: H& @e8er et&al <1"=: and >& 0& D& So7sa et&al <1#=& The novel speed 'ontrol for '7rrent reg7lated 1SI-fed I+ has 8een dis'7ssed 8% them& The f7FF% logi' 8ased 'ontroller for I+ drives has 8een proposed 8% +inh Ta-0ao et&al <1A=& The performan'e of the proposed s%stem is 'ompared with the 'onventional ve'tor 'ontrol on the 8asis of Integral of time 8% A8sol7te Time 4rror (IAT4(& The Sim7link implementation of '7rrent reg7lated 1SI-fed I+ is proposed 8% Norman +ari7n et&al <1C= and 1inod I7mar et&al <1D=& The% proposed a f7FF% logi' 'ontroller in pla'e of PI 'ontroller in the ve'tor 'ontrol s%stem& @owever: the power s%stem 8lo'k set 7sed 8% them makes 7se of Sf7n'tions and it is not as eas% to work with as the rest of the Sim7link 8lo'ks&

The work presented in <1!=-<1D= 7ses a f7FF% logi' 'ontroller to set the tor97e 'omponent of referen'e '7rrent 8ased on speed error and 'hange of speed error& The inverter is then swit'hed to follow the referen'e '7rrent within h%steresis 8and& @owever: the 'onstant h%steresis 8and of the '7rrent reg7lated PB+ inverter of the f7FF% logi' 8ased indire't ve'tor 'ontrol s%stem possesses pro8lem in a'hieving s7perior d%nami' performan'e: even the drive 'ontrol s%stem in'l7des the effi'ient f7FF% logi' 'ontroller& This paper dis'7sses the f7FF% logi' speed 'ontrol for 1SI fed indire't ve'tor 'ontrolled ind7'tion motor drives& ;ig& 1 shows the 8lo'k diagram of f7FF% logi' 8ased speed 'ontrol s%stem& S7'h a f7FF% logi' 'ontroller 'onsists of fo7r 8asi' 8lo'ks viF&: ;7FFifi'ation: ;7FF% Inferen'e 4ngine: Inowledge 8ase and def7FFifi'ation&

;ig& 1& Hlo'k diagram of ;7FF% logi' speed 'ontrol s%stem for indire't ve'tor 'ontrolled ind7'tion motor drive

Inp$t8 O$tp$t varia& es The design of the f7FF% logi' 'ontroller starts with assigning the inp7t and o7tp7t varia8les& The most signifi'ant varia8les entering the f7FF% logi' speed 'ontroller has 8een sele'ted as the speed error and its time variation& Two inp7t eω ( k ) !eω ( k ) varia8les and : are 'al'7lated at ever% sampling instant as:
J eω ( k ) = ωr ( k ) − ωr ( k )


!eω ( k ) = eω ( k ) − eω ( k − 1)
J ωr ( k)

( #) ( A)
ωr ( k )
is the

is the referen'e speed:

eω ( k − 1) a't7al rotor speed and is the val7e of error at previo7s sampling time& The o7tp7t varia8le of the f7FF% logi' speed 'ontroller is the
variation of 'ommand '7rrent:
J !i#s ( k) J i#s

whi'h is integrated to

get the referen'e 'ommand '7rrent: following e97ation&
J J J i#s ( k ) = i#s ( k − 1) + !i#s ( k)

( k)

as shown in the

( C)

B. 0$22ifi!ation The s7''ess of this work: and the like: depends on how good this stage is 'ond7'ted& In this stage: the 'risp varia8les eω ( k ) !eω ( k ) and are 'onverted in to f7FF% varia8les eω and !eω respe'tivel%& The mem8ership f7n'tions asso'iated to the 'ontrol varia8les have 8een 'hosen with triang7lar shapes as shown in ;ig& !& The 7niverse of dis'o7rse of all the inp7t and o7tp7t varia8les are esta8lished as (-6&D: 6&D(& The s7ita8le s'aling fa'tors are 'hosen to 8ro7ght the inp7t and o7tp7t varia8les to this 7niverse of dis'o7rse& 4a'h 7niverse of dis'o7rse is divided into seven overlapping f7FF% sets: NL (Negative Large(: N+ (Negative +edi7m(: NS (Negative Small(: K4 (Kero(: PS (Positive Small(: P+ (positive +edi7m(: and PL (Positive Large(& 4a'h f7FF% varia8le is a mem8er of the s78sets with a degree of mem8ership var%ing 8etween 6 (non-mem8er( and 1 (f7ll-mem8er(& All the mem8ership f7n'tions have as%mmetri'al shape with more 'rowding near the origin (stead% state(& This permits higher pre'ision at stead% state <2=&

('( ;ig& !& +em8ership f7n'tions for (a( speed error (8( 'hange of speed error ('( 0hange of 'ommand '7rrent


C. :now e"ge &ase an" Inferen!e Stage Inowledge 8ase involves defining the r7les represented as I;-T@4N statements governing the relationship 8etween inp7t and o7tp7t varia8les in terms of mem8ership f7n'tions& In this stage: the varia8les eω and !eω are pro'essed 8% an inferen'e engine that e,e'7tes "E r7les (C,C( as shown in Ta8le I& These r7les are esta8lished 7sing the knowledge of the s%stem 8ehavior and the e,perien'e of the 'ontrol engineers& 4a'h r7le is e,pressed in the form as in the following e,ample: I; ( eω is Negative Large( AND ( !eω is Positive

!iJ Large( T@4N ( #s is Kero(& Different inferen'e engines 'an 8e 7sed to prod7'e the f7FF% set val7es for the o7tp7t f7FF% !iJ varia8le #s & In this paper: the +a,-prod7't inferen'e method <2= is 7sed&
(a( NL e 'e N L N + N S K 4 P S P + P L NL NL NL NL N+ NS K4 N + NL NL NL N+ NS K4 PS NS NL NL N+ NS K4 PS P+ TAHL4 I ;*KK5 0/NT./L .*L4S K4 NL N+ NS K4 PS P+ PL PS N+ NS K4 PS P+ PL PL P+ NS K4 PS P+ PL PL PL PL K4 PS P+ PL PL PL PL




!iJ ( k ) In this stage a 'risp val7e of the o7tp7t varia8le #s is o8tained 8% 7sing height def7FF7fi'ation method: in whi'h the


'entroid of ea'h o7tp7t mem8ership f7n'tion for ea'h r7le is first eval7ated& The final o7tp7t is then 'al'7lated as the average of the individ7al 'entroid: weighted 8% their heights (degree of mem8ership( as follows:


-K$u%%& 'o(ic Controller du/dt Derivative -K-



1/s Integrator )iqs*



;ig7res " and # shows speed response with 8oth the PI and ;L 8ased 'ontroller& The ;L 'ontroller performed 8etter performan'e with respe't to rise time and stead% state error& ;ig7re A shows the load dist7r8an'e re3e'tion 'apa8ilities of ea'h 'ontroller when 7sing a step load from 6 to !6 N-m at 6&D se'onds& The ;L 'ontroller at that moment ret7rns 97i'kl% to 'ommand speed: where as the PI 'ontroller maintains a stead% Vref state error& vao Vref ;ig7re C shows the speed tra'king test: when vao performan'e ia PI s7dden 'hange in speed referen'e is applied in the form of vqs* The vao* intelligent look-7p ta8le& 'ontroller e,hi8ited 8etter speed vao* tra'king 'ompared to PI 'ontroller& vbo ib
vbo vds* vbo* vbo* vco ic

!lm )ids*


tl te
De m o


Speed, rad/sec



200 100 +enerator

Command Volta(e PWM inverter

vco* Reference Speed we wr Response with FL Controller


induction motor Response with PI Controller model

-Cabsolute peak rotor flux



0 -100 0


Load Torque Time, sec






;ig& "& Speed response 'omparison at no-load ;ig& 2& Indire't ve'tor 'ontrolled ind7'tion motor 8lo'k diagram with the ;7FF% Logi' 0ontroller
Speed, rad/sec
J !iJ  ( !i#s )i ∑µ  ( #s ) i    i =1 n

Reference Speed

301 300 299 298 0

Response with FL Controller Response with PI Controller

J !i#s ( k) =

!iJ  ∑µ   ( #s ) i  
i =1


( D)

iJ ( k ) The referen'e val7e of 'ommand '7rrent #s that is applied to ve'tor 'ontrol s%stem is 'omp7ted 8% the e97ation (C(& The overall model for f7FF% logi' 8ased speed 'ontrol s%stem for indire't ve'tor 'ontrolled ind7'tion motor drive is shown in ;ig& 2& The parameters of the motor are given in appendi,&



0.6 Time, sec




;ig& #& 4nlarged speed response 'omparison at no-load

A series of sim7lation tests were 'arried o7t on indire't ve'tor 'ontrolled ind7'tion motor drive 7sing 8oth the PI 'ontroller and f7FF% logi' 8ased intelligent 'ontroller for vario7s operating 'onditions& The time response and stead% state errors were anal%Fed and 'ompared&


<1= <!= <2= <"=
0.2 0.4 0.6 Time, sec 0.8 1.0 1.2

300 Speed, rad/sec
Reference Speed

200 100 0 -100 0

Response with FL Controller Response with PI Controller

<#= <A=

;ig& A& Speed response 'omparison d7ring s7dden load 'hange

Reference Speed

<C= <D= <E= <16=
Response with FL Controller Response with PI Controller

300 Speed, rad/sec 200 100 0 -100 -200 0 0.2 0.4

0.6 Time, sec 0.8 1.0 1.2

;ig& C& Speed tra'king response 'omparison




<1"= <1#=

The performan'e of f7FF% logi' 8ased intelligent 'ontroller for the speed 'ontrol of indire't ve'tor 'ontrolled: PB+ voltage so7r'e inverter fed ind7'tion motor drive has 8een verified and 'ompared with that of 'onventional PI 'ontroller performan'e& The sim7lation res7lts o8tained have 'onfirmed the ver% good d%nami' performan'e and ro87stness of the f7FF% logi' 'ontroller d7ring the transient period and d7ring the s7dden loads& It is 'on'l7ded that the proposed intelligent 'ontroller has shown s7perior performan'e than that of the parameter fi,ed PI 'ontroller and earlier proposed s%stem <"=&




APP4NDIL 2-Phase Ind7'tion +otor Parameters .otor t%pe: S97irrel 'age: .eferen'e frame: S%n'hrono7s 1= hp( 413 ra"8se!( 3 Po es( Rs > =.1? @( Rr > =.4? @( L s > =./1eA4 1( L r > =.BeA4 1( Lm > 3eA4 1( C > =.=//B :gAm/.

Himal I& Hose: 6o"ern Power 7 e!troni!s an" A% *rives( Third impression: INDIA: Pearson 4d7'ation: In'&: !66C& Hlas'hke ;: MThe Prin'iple of ;ield-/rientation as applied to the New Transve'tor 0losed-Loop 0ontrol S%stem for .otating-;ield +a'hines:M Siemens .eview: 1ol& 2": pp& !1C-!!6: +a% 1EC!& 0& 0& Lee: N;7FF% Logi' in 0ontrol S%stems: ;7FF% Logi' 0ontrol O Part 1:P I777 Transa!tions on Systems( 6an an" %y&erneti!s( 1ol& !6: No& !: pp& "6"-"1D: +ar'hQApril: 1EE6& +& N& *ddin: T& S& .adwan and +& A& .ahman NPerforman'es of ;7FF%-Logi'-Hased Indire't 1e'tor 0ontrol for Ind7'tion +otor Drive:P I777 Transa!tions on In"$stry App i!ations( 1ol& 2D: No& #: pp& 1!1E1!!#: Septem8erQ/'to8er: !66!& http:QQwww&mathworks&'omQ (The offi'ial site for +ATLAHRSI+*LINI as well as ;7FF% Logi' Tool8o,(& @& S7gimoto and S& Tamai: NSe'ondar% resistan'e identifi'ation of an Ind7'tion +otor Applied +odel referen'e Adaptive S%stems and its 0hara'teristi'sP: I444 Trans& on Ind& Appl&: 1ol IA-!2: No&1: pp&!EA262: +arQApr: 1EDC& 0& 5& Bon and H& I& Hose: NAn ind7'tion +otor servo S%stems with Improved Sliding +ode 0ontrolP: in Pro'& I444 I40/NGE!: pp& A6-AA& T& L 0hern and 5& 0& B7: NDesign of Integral 1aria8le Str7't7re 0ontroller and Appli'ations to 4le'tro @%dra7li' 1elo'it% Servo S%stemsP: Pro'& In 4le'& 4ng&: 1ol& 12D: no& #: pp& "2E-""": Sept& 1EE1& )& 0& @7ng: NPra'ti'al Ind7strial 0ontrol te'hni97esP: in Pro'& I444 I40/NGE": pp& C-1"& +iki: N& Nagai: S& Nishigama: and T& 5amada: N1e'tor 'ontrol of ind7'tion motor with f7FF% PI 'ontrollerP: I444 IAS Ann7& +eet& 0onf& .e'&: pp& 2"!-2"A: 1EE1& B& P& @ew: +& .& Tam3is: and S& +& Saddi97e: NAppli'ation of ;7FF% Logi' in Speed 0ontrol of Ind7'tion +otor 1e'tor 0ontrolP: Pro'& /f the international 'onferen'e on .o8oti's: vision and Parallel Pro'essing for Ind7strial A7tomation: pp& CAC-CC!: Ipoh: +alasi%a: Nov& !D-26:1EEA +& N& *ddin: T& S& .adwan and +& A& .ahman NPerforman'es of ;7FF%Logi'-Hased Indire't 1e'tor 0ontrol for Ind7'tion +otor Drive:P I444 Transa'tions on Ind7str% Appli'ations: 1ol& 2D: No& #: pp& 1!1E-1!!#: Septem8erQ/'to8er: !66!& 4& 0err7to: A& 0onsoli: A& .a'iti and A& Testa: N ;7FF% Adaptive 1e'tor 0ontrol of Ind7'tion +otor DrivesP: I444 Trans: on Power 4le'troni's: 1ol&1!: No& A: pp& 16!D-162E: Nov& 1EEC& H& @e8etler: L& L7: and 5&Tang: N;7FF% Logi' 4nhan'ed Speed 0ontrol of Indire't ;ield /riented Ind7'tion +a'hine DriveP: I444 Trans& /n Power 4le'troni's: 1ol&1!: No&#& pp& CC!-CCD: Sept&1EEC& >& 0&D& So7sa: H&I& Hose and )&>& 0leland: N;7FF% Logi' 8ased /nLine 4ffi'ien'% /ptimiFation 0ontrol of an Indire't 1e'tor 0ontrolled Ind7'tion +otor DriveP : I444 Trans& /n Ind7strial 4le'troni's: 1ol& "!: No& ! : pp&1E!-1ED: April 1EE#& +inh Ta-0ao: )& L& Silva Neto and @& Le-@7%: N;7FF% Logi' 8ased 0ontroller for Ind7'tion +otor DrivesP: 0anadian 0onferen'e on 4le'tri'al and 0omp7ter 4ngineering: 1ol7me !: Iss7e: !A-!E +a% 1EEA Page(s(:A21 - A2" vol&!& Norman +ari7n: Sams7l 8ahari +ohd Noor: )& )asni and /& S& Hennanes: NA ;7FF% Logi' 8ased 0ontroller for an Indire't 1e'tor 0ontrolled Three-Phase Ind7'tion +otorP: I444 .egion 16 0onferen'e: T4N0/N !66": 1ol7me D: Iss7e& !1-!" Nov& !66" Page(s(: 1-" 1ol& " 1inod I7mar: .& .& )oshi: N@%8rid 0ontroller 8ased Intelligent Speed 0ontrol of Ind7'tion +otorP: )o7rnal of Theoreti'al and Applied Information Te'hnolog%: De'em8er !66A: 1ol& 2 No& 1: pp& C1- C#&