DSP-CONTROLLED

INTELLIGENT AC DRIVES
HIGH-PERFORMANCE
PRESENT AND FUTURE
P Vas PhD DSc CEng FEE
A F Stronach PhD CEng MIMarE
M Neuroth MSc
Department of Engineering, Intelligentcontrol and Drives Group, University of Aberdeg Aberdeen, AI39 2UE
united Kingdom
p.vas@eng.abdn.ac.uk
http.Ywww.eng.abdn.a.Wialr@

Two types of high performance drives are discussed. Results obtained from DSP-based implementations of a variety of
ac drive configurations are presented. The advantages of the application of intelligent controllers are also discussed

1 INTRODU~~ION

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There exists basically two types of high performance drives vector drives and direct torque controlled @TC) drives.
Vector controlled drives were introduced more than twenty years ago. They have achieved a high degree of matUrity
and have become increasingly popular in many applications. DTC drives have found various applications in the past
ten years including traction applications. However, at present there is an i n d interest in DTC drives due to the
fact that ABB has recently marketed one form of such a drive. It is expected that further DTC drives will emerge in
the future.
Recent developments in the application of control theory are such that conventional techniques for the design of
controllers arc being replaced by alternatives that adopt radically different design strategies by making extensive usc of
artificial intelligence-based (neural, fuzzy, fuzzy-neuro and genetic) concepts. These methods a~ characterised by the
different amount and type of the necessary U priori knowledge descn’bing the system and the required perfonnancc.
There is a strong industrial need for the development and exploitation of systems incoIporating controllers based on
these novel methods because of the numerous advantages offered. The Intelligent Control and Drives Group at
Aberdeen University are developing the DSP applications of intelligent digital controllers, which include fuzzy
controllers, neural controllers, fuzzy-neural controllers, self-tuning controllers and also extended observers,to high-
performance variable-speed drives with and without speed sensors.Other areas of research by the Group are condition
monitoring and diagnosis; real-time parameter estimation; development of new machine models and development of
machine and drive simulation packages. The real-time applications are implemented on TMS320C30-based DSP
systems.

2 VECrOR CONTROL

2.1 CONVENTIONALW O R CONTROL TECRNlrQUEs

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There are basidly two types of implementations of vector control drives the diner and indirect methods [I]. Th:
direct implementation relies on the direct measurement of the rotor, stator or magnetising flux amplitude and its
position. The indirect method avoids direct measurement of the flux by using a machine model based estimator. For
example, the inherent slip relation is used in a drive implementingrotor flux oriented control. In contrast to the direa
methods the indirect methods are highly dependent on machine parameters.

The electromagnetic torque of an ac motor can be expressed as a product of a flux-producing m n t and a toque-
producing current. In case of flux oriented vector control the stator currents are transfomed into a system of co-
ordinates which rotates together with the chosen flux space vector. There are mainly three posiVilitics for the
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selection of the flux vector the stator flux, rotor flux or magnetising flux vector. Hence the terminology stator flw,
rotor flux and magnetising flux oriented control (1.21.

In vector control drives three types of converters are mainly used; VSI, CSI and cycloconverter. For applications below
the medium power range the P W S I - f e d drive is the most frequently used. This exhibits better dynamic
performance and less torque ripples than the CSI-fed drive. When performance characteristics with reduced torque
ripples are required a fast response ac current controller must be used in a vector controlled P W S I drive. The
W r control implsmentationsdiffer for machines fed from voltage source and current s o m .

2.2 SPEEDAND POSI"1ON SENSORLESS VECTOR CONTROL TECHNIQUES,INTELLIGENT CONTROL

To reduce total hardware complexityand costs and to increase mecRanical robustness it is desirable to eliminate speed
and position sensors in vector controlled drives [3]. In high speed drives or in various drives operating in hostile
environments speed sensors cannot be used. As real-time computation costs are continuously decreasing, speed and
position estimation can be performed by using sofmm-based state estimation techniques where stator voltage andlor
current measurements are utilised. It is also possible to use the m d dc link voltage and current for this purpose
[4]. Qther types of solutions, eg the stator third harmonic voltage, may also be used. Alternative techniques m y be
based on extended observers (Kalman,Euenberger) or may use model reference adaptive schemes. An extensive list of
relevant publications is given in [3]. However, none of these techniques will give a satisfactory solution near zero
speed. As an alternative to these techniques it may be possible to use artificial intelligence for speed and/or position
estimation.

3 DIRECr TORQUE CONTROL

In a voltage source, inverter-fed DTC drive, torque control [S, 61 invoives separate control of the stator, Totor Or
magnetising flux through the selection of optimum inverter switching modes (direct triggering of one O r a
combination of the available six non-zero and two zero voltage switching vectors of the VSI). In its simplest form it b
required to have the flux vector in one of the six w o r s of the hexagon. The flux and torque e m s m restricted
within their respective hysteresis bands. To implement this control, flux and electromagnetic torque are &mated. The
&tor flux can be obtained by integrating the terminal voltage reduced by the ohmic losses but at low frwencies &e
errors can occur due to the variation of the stator resistance,integrator drift and noise. It should be noted that more
accurate techniques for the estimation of the stator flux exist. The outputs of the flux and torque comparators are used
in the inverter optimal switching table which also uses the psition of the flux vector.

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The main features of the DTC are direct control of flux and torque, indirect control of currents and voltages;
approximately sinusoidal stator fluxes and stator currents; reduced torque oscillations; excellent toque dynamics;
inverter Switching frequency depends on flux and torque hysteresis bands, The main advantages of the DTC are -
absence of co-ordinate transformations; absence of current control loops; absence of sepamte voltage modulation
block; absence of voltage decoupling circuits. The main disadvantages of the DTC are: requires flux and torque
esbimators (same problems as for vector drives); possible problems during starting, during low Speea operation and
during change in torque command.

It has k n claimed by ABB [7] that "a new drive technology for ac variable speed drives has been introduced by
ABB" and "the new AC drive technology from ABB rests chiefly on the development of mathematid theories of
induction machines. This has enabled a software Motor Model, which in practice simulates the actual motor within the
controller. ..... When operating, the mathematical functions in the motor model then allow the motor's state to be
calculated without feedback from the motor shaft, ie. without shaft speed or position uansmittedfrom tachometers or
encoders. The motor model is input with measured values of two motor phase currents and the drive dc link voltage
together with the information on the inverter's switching state. It outputs accurate estimates of the actual motor torque
and actual stator flux,which serve as the primary controI variables."

Toque response times typically better than 5ms are chimed by B B together with high torque control linearity even
down to low frequencies including zero speed. In it is emphasised that "although motor models are not new, until
now they Rave only been able to approximate a motor's electrical and mechanical state. The motor model is, in k t ,
key to DTC's unrivalled low speed performance." It should be noted that so far only very little information has been
disclosed on the ABB motor model which, according to B B [SI, requires data on the stator resistan- mutual
inductance, saturation coefficients, inertia, etc. In particular the inclusion of the inertia should be noted. It k believed
by the present authors that higher precision and greater robustness is obtainable by using a system which does not
contain a conventional type of machine model using resistances, inductances, inertia, etc. although, similarly to that
claimed by ABB, some of these parameters can be conveniently obtained by using well known selfcommissioning
techniques originally developed by Siemens.

4 DSP RESULTSOBTAINEDBY THE &TELLIGENT CONTROL AND DRIYES GROUP

4.1 OBSERVER-BASED SYSTEMS

For decades, extended Kalman filters (EKF) have been used almost uniquely for the real-time joint flux and parameter
 estimation in ac drive systems. However, this stochastic approach appears to have some inhennt disadvantages.
Difficulties arise in situations where the noise content of the system and associated measurements arc too low. The
tuning of tht EKF is od-hoc. In contrast to the standard linear Kalman filter, the EKF is not optimal (this important
point is not well recognised) [9]. Then may also be a bias problem when the assumed stochastic characteristicS of thc
noise do not match those of the real system [lo]. The bias problem of the EKF is highlighted in 1111. Perhaps, the most
serious drawback is that there is no means in the EKF design and implementation by which the dynamic performance
can be tuned without affeaing the steady state accuracy. Therefon, in some applications this traditional approach will
tend to be inefficient and unacceptable due to the bias. Recently an alternative extended observer, the extended
Luenberger observer (Em), which is of a deterministic type, has emerged. The application of both ohs" for
sensorless fieldoriented control was presented in [12] and a systematic procedure for the design of the EL0 for
practical was given.

In the present paper, the real-time and on-line experimental results of an extended Luenberger obsemr applied in a
vectorcontrolled induction motor drive are also shown. The overall st~~cture of the system is shown in Figure 1. It
contains a voltage-source inverter, a 3kW squirrelcage induction motor, analogue circuits for the voltage and current
transformations and a TMS32000 DSP system board and interface board (DMB). The two boards are installed in a
host computer. There are four A/D channels in the DMB which enable input of four signals.

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Figure 1 DSP-based vectorcontrolled ac drive

The DSP s o h contains the algorithm for PI, PID or intelligent controllers, vectorcontrol, PWM generation,
machine soft-starting, AID calibration and an extended observer. During operation, up to fifken drive quantities can
.be simultaneously shown on the host computer display in real-time. This greatly facilitates the tuning of the drive
system. The PWM scheme uses an asynchronous sy”etcidspace-vector modulation technique.The digital signal
conversion block is used for inverter tault detection, inverter protection and the generation of the six firing signals.

Figure 2 shows some characteristics obtained for the real-time system.The drive starts from nst. The reference speed
is first set to zero then to 220 rad/s and then to -220 rad/s and finally to =KO again. The torque producing current is
maintained at its maximum value during both acceleration and deceleration.

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M 1 1 d 2 S b S 3 6 4 ( d d , y l i i i i i i i
0 od 1 lb 1 ld 1 s.6 4 (d 6

T i (a)

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Fig. 2 DSP vectorcontrolledac drive responses

7/3
4.2 FUZZY “TKOLLED SYSTEM
Conventional PI and PID controllers which are used in converter-fed ac drive &stems are mainly tuned using ad hoc
methods. Several techniques exist which provide iniW values of the controller parameters, the most commonly used
being based on the Ziegler-Nichols methods. These techniques can be timeGonnuning and fixed controllers cannot
necessarily provide acceptable dynamic performanceover the complete operating range of the drive. Performance d
degrade mainly because of machine non-linearities, parameter Variation, etc. Adaptive controllers can be used Po
Overcome these problems and also to eliminate the need to perfom detailed a priori controller design [13].
Alternatively, performance-index-bsed optimal control techniques can be adopted, but these may suffer from
convergence-relatedproblems.
Recently, fuzzy logic control has emerged as an attractive area for research in the control application of fuzy set
theory [14-20]1. The main feature is the construction of fizzy logic controllers (FLCs)which utilise the linguiidc.
imprecise knowledge of human experts. However, the implementation of conventional fuzzy logic controllers suffers
from the disadvantage that noformal procedures exist for ahe direct incorporation of the expert knowledge during the
development of the controller. The structure of the fuzzy control1er (nurnber of rules, the rules themselves, number and
shape of membership fimctions, etc) is achieved through a timeansuming tuning process which is essentially manual
in nature. The ability to automatidly ‘ l a ” charaaeristics and structure which may be obscure to the human
observer is, however, inherent in neural networks. A fuzzy Iogk-Qpe controller having a neural network structure
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offers the advantages of both the ability of funy logic to use expefi human knowledge and the learning ability of the
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neural network and overcomes their disachantages the tack of a formal learning procedure for the t i n y controller
and the lack of a clear “elation with the p h f i d problem when using neural networks.

4.2.1 Fuzzy Logic Controller Structure

A fuzzy logic controller contains four main parts. Thef’uailier performs measurement of the input variables, scale
mapping and fuuification. Membership functions can take many forms including triangular, Gaussian, bell-shaped,
trapezoidal,etc. The initial forms can be obtained by using expert considerationsor by clustering the data [17]. Final
tuning can be performed on the DSPcontrolled drive.
The knowledge base consists of the data base and the linguistic control rule base. The main methods of developing the
rule base are: (a) using the experience and knowledge of an expert for the application and the conml goals; (b)
modelling the control action of the operator, (c) modelling the process; (d) using a self-organised fuzzy controller and
(e) using artificial neural networks. When the initial rules are obtained by using expert physical cQnsidemtions these
can be formed by considering that the main objectives to be achieved by the fuzzy logic controller are: (a) removal of
any significant errors in the process output by suitable adjustment of the control output; (b) ensuring a smooth ccsntrol
action near the reference value (small oscillations in the process output are not transmittedto the control input) and (c)
preventing the process output exceeding user spec5ed values.
The inference engine is the kernel of a fuzzy logic controller and has the capability both of simulating human
decision-making based on f u z q concepts and of inferring fuay eontrol actions by using fuay implicatiora and fuzzy
logic wllles of inference.
The defuzzifier performs scale mapping as well as defuaitication. There are many defUzzification techniques for
example, the maximum defuzzification and the centre average techniques, etc. Because of the simplicity of its
implementationand the simpler mining algorithms the centre of gravity method is adopted here.
C c m t ” o n of the Rule Base - One possible rule base, that cm be used in drive systems consists of 64 linguistic rules
as shown in Table 1. It should be noted that a conventional fixed term controller (e.g. a PID controller) cannot achieve
the three main control objectives listed above unless extra logic is added. This extra heuristic logic is contained
implicitly within the rules shown in Table 1.
I CE
NLNM
NLNL
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NS
NL
N Z P Z P S
N L N L N M
PM
NS
PL
NZ
NLNL NL Nh4 NM NS mPs
N L N L NM NS NS NZ Ps PM
N L N M NS “PS PM PL
N L N M NS PZ Pz Ps PM PL
Nhf NS PZ Ps Ps PM PL PL
PM NS PZ Ps PM PM PL PL PL
PL PZ Ps PM PL PL PL PL PL

Table 1- Fuzzy rule base with 64 rules

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4.2.2 Practical Considerations for Real-time Implementation of b y Codtrollers

For a practical real-time implementationof fuzy controllers the following aspects should be considered:
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Discretisation of membershipfincfions For ease of real-time implementation, and for the purposes of fwiiication
and defuzzification, triangular membership functions can bc very easily descrkd by using d i m t e values in a 1ook-q
table.
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Rule base look-up ruble It should be noted that when a microprocessor or DSP-based fuzzy controller is designed it
can be e m m e l y wful also to utilise a look-up table for the rule base. This contains the discrete values of the change
of the output of the fuzzy controller.
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Main steps of tuning The main tuning steps are:
1. Tuning of input and outpur scuIing fuctors - The output scaling factor in a fuzzy logic controller has great influence
on the stability of the system. The input scaling factor has great influence on the sensitivity of the fuzzy logic
controller with respect to the optimal choice of the operating ranges of the input signals. Both scaling factors are thus
set during the initial tuning stage.
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2. Tuning of input and output membershipfunctions The number and shape of the input and output membership
functions have a considerable influence on the controller behaviour. The second stage of the tuning process is
concerned with tuning the membershipfunctions.A variety of membershipfunction forms has been considered.
3. Tuning of the rules - It is possible to achieve optimal tuning by the appropriate adjustment of the rule base.
An extensive range of digitat simulations has been performed to obtain the appropriate values of the scaling factors,
membership functions and rule-base. This was followed by real-time implementation of the fuzzy logic controllers in
various drive systems.
4.2.3 FUZVFTED PI CONTROLLERS (FPIC)
In addition to fuzzy controllers, fuzzified controllers [18) may also be used. FPICs can improve the performance of the
system incorporating conventional PI controllers by using fuzzy logic. Small changes of the values of the controller
coefficients may lead to considerable improvement in perfonnance. The parameters of the PI part of the fmified
controller cm be adjusted according to P(iJ = P(tc3 + K, CP for the proportional tetm and &tJ = I(tc3 + K,* CY for the
integrat term It should be emphasised that the performances of the FLC are far better than those of both the P I C and
optimal PI controller. In contrast to the computational times for the fuzzy logicaased system, those for the optimised
controller are excessive.
4.2.4 FIJZZY-NEURAL CONTROLLERS
Fuzzy-neuralcontrol emerged as a powem technique more than a decade ago. In fuzy-neural control the ideas of a
fuzzy logic controller and a neural network structure are combined. The fuzy-neural network is automatically
constmckdby a learning process. In a connectionist fuzzy controller the input and output nodes of the ANN represent
the input and output signals and the hidden layer nodes take the roles of membership funaionsand rules. The learning
algorithm for this network is hybrid, combining unsupervised and supervised mahods. The unsupervised learning
produces the number of fuzzy sets for each input and output variable, the number of fuzzy rules, the rules themselves
and the centres and widths of the membership sets. This information is used to establish a iinzy-neural controller
which is trained using a backpropagation algorithm to further tune the centres and widths of the membership
hctions. The structure of the controller is fixed.Hybrid learning outperforms purely Supervised learning by d u c i n g
training times.
The fuzzy-neural controller used by the authors [I71is based on a Mamdani-typefuzzy logic system and is repnxented
by a network consisting of five layers. These are an input layer, a layer for the fuzzy membership sets, a fuzzy AND
laver, a fuzzy OR layer and an output layer. A fuzzy-neuralcontroller offers a structure which enables 'automated'
design, requiring a minimum of human intervention for the tuning. In addition it is shown that high-dynamic
performance is obtained. An example of the network structure for a controller with two inputs and a single output is
shown in Figure 3.

The first layer is an input layer with one node for each controller input variable. The nodes in this layer act as single-
input, multiatput, ' b o u t ' nodes distributing each input -le to each of its associated "bershl'p funaion
nodes in the second layer.The input, activation and output functions for these nodes 8n all identity funaions. The
weights of the interconnections between the first and second layers are all unity and are constant. The second layer is
made up of nodes representing Gaussian (bell-shaped) membership functions. The total number of nodes in this is
equal to the total number of fuzzy sets associated with the input variablk. Again the weights of the interconnections
between the second and third layers are all unity and are constant. The third layer is made up of nodes implementing

7/5
fuzzy AND operations, each node representing a fuzzy rule. Again the weights of the interconnections ktweee the
second and third layers are all unity and are constant The fourth layer is made-up of nodes implementing fulzy OR
operations. The number is equal to the total number of fuzzy sets askated with the controller output variables. The
fifth and final layer comprises nodes implementing a centre-of-area de%uaificationalgorithm, with one node for each
output variable. The weights of the interconnections &tween the nodes in the fourth and fifth layers are the products
of the centre and width of the membership function associated with the fuzzy set for each layer four node output
variable.

Inputs

xr

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Figure 3 Fuzzy-neural controller structure
In order to establish the detail of the fuzzy-neural controller structure for a particular application the following
unknowns must be determined: a) the number of membership sets associated with each input variable, i.e. the number
of nodes in the second layer and the connections between layers 1and 2;b) the number of membership sets assoCiated
with each output variable, i.e. the number of nodes in the fourth layer, c) what the fuzzy d e s are, i.e. the co~eCti01ls
between layers 2 and 3 and between layers 3 and 4; d) initial estimates for the centre and width of each input variable
fuzzy set membership function, i.e. the parameters of the activation functions of the layer 2 nodes; e) initial estimates
for the centre and width of each output variable futzy set membership function, i.e. the connection weights between
layers 4 and 5 and the parameters of the activation function of the layer 5 nodes.

The determination of the required structure and the initial values of the membership h a i o n parameters is done using
a separate, first stage tuning. Subseguent to this, a second stage tuning using a backpropagation-type of algorithm
tmins the network by tuning the membership function parameters and the network connection weights in d) and e)
a b v e to produce the final trained fuzzy-neural contdler.
4.2.5 RESULTS
An extensive series of simulation and experimental studies using the controllers described abve has been d e d out
for various drives including a fully digital, VSI-fed induction motor drive utilising space vector mddation. In the
experimental drives the TMS320C30 BSP has been used. %me experimental resultsare shown in Figures 4 and 5.
Figure 4a shows the speed response of the drive with PID controllen as a result of changes in the speed reference h m
rest to 220 rad/s followed by a reversal bo -220d s followed by the drive being brought to standsU. Figure 4b shows
the eomesponding result for the fuzzycontrolled drive. ahis is a mid result and shows that the perfomaxe
obtained for the fuzzycontrolled drive is mmparabie to that of the PIDcontrolled drive but with a considerable
duction in the tuning effort requipxj. These agree well with simulation results obtained during controller
development. It should also be noted that the stator fluxproducing ament for the fuzzy-controlleddrive shows an
improved transient profile.
The results obtained for the drive using the ThtS320630 DSP with the fuzy-neural controller replacing the PID speed
controller are shown in Figure 5. The sequence of speed reference changes is as indicated above. It follows b m
Figure S that a satisfactory speed response is achieved. The torque-producing stator current component has the
exgeaed form and follows the reference d u e generated by the fuzzy-neural controller. As expected the mtor
magnetising current is effectively constant.

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 200.
loo.

-100 .loo - wr
-24) -200 -
-100
0 05 1 15 2 25 3 35 "Li 05 ; 1'5 ; 25 ; 3.5 4

Time (ti) (a)

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Figure 4a PIDcontrolled ac drive responses -
Figure 4b Fuzzycontmlled ac drive responses

......... -

1-
2

0
0.5
.. .
I 1.5
T i (a
2.5 0 0.5 1
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1.5
(8)
2 2.5 3

- -..

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Figure 5 Fuzzy-neuralcontrolled ac drive responses

These are similar to the results obtained for the drive using a fuuy speed controller, a PID speed controller and a
neural speed controller. However, in the present scheme the fuzzy rue ls and the membership funaous have been
obtained by an automatic, systematic procedure. In addition, a reduced number of membership functions and fuzy
rules has been established. An extensive xange of simulation and experimental studies bas shown that all of the
controller types considered are capable of providing satistactory drive performance. The major differencts bemeen the
controllers lie in the design effort required, the reduction of which is onc of the major advantages Of artificial-
intelligencehsed controllers. Further, these controller types do not require an explicit model Of the plant to be
co.?trolled.

5 FUTURE OF HIGH-PERFORMANCErives

It is expected that the dc drive market will decline and further high-performance ac drives will be introduced by
Various m a " r s . For this purpose both impwed DTC drives and vector drives will emerge. However, it should
be notedthat open loop drives with improved performance will be required in the future as well.
New control techniques will find application and further speed sensorless drives will be introduced. It is mpected that
further universal drives (such as the Unidrive by Control Techniquesplc) will emerge.

7/7
6 CONCLUSIONS
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The paper has discussed two types of high performance drives the DTC and the vector controlled drive. DSP based
results have been presented for ac drives which incorporate extended observers, fuzzy logic controllers and &zy-
neural controllers. These have been developed by the Intelligent Control and Drives Group at Aberdeen University.

For drives containing extended observers it is possible to employ either Kalman or Luenberger types. The application
of these lead to similar drive performances. The bias problem associated with the Kalman filter is eliminated by the
Luenberger observer but at the expense of increased tuning difkulties.

The application of fiuzy-logic-based and funified mntrollers h%s also been dixussed. In particular, procedures for the
coxmtuction of the rule base, practical considerations for real-time implementation (discretisation of membership

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functions, rule base look-up table) have been consideered. The main steps of tuning input and output d i n g factors,
membership functions and rules have been given. The application of a fuzzy-neural speed controller to an ac drive
has also been considered. The controller takes the form of a five layer neural network having the logical structure of a
Mamdani-type fuzzy controller. The combination of neural and fuzzy concepts allows the advantages of each approach
to be utilised whilst at the same time overcoming their respective disadvantages. A two-stage tuning procedure is
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adopted the determination of the structure of the fuzzy-neural controller, the rule-base, initial values for the centres
and widths of the membership fiinctions and the tuning of the Suzzy-neural controller. Performances similar to those
obtained using conventional PI or P D controllers are achieved but the tuning effort associated with %uzzy and fuay
neural based controllers is considerable fedused. The futa~eof high performance drives has also been &sassed.
7 ACKNOWLEDGEMENTS
The authors wish to acknowledge the support of Control Tschniques plc (Wales, UK) and GEC Traction
(Bhmhgham). The support of the EPSRC is also acknowledged.
8 REFERENCES
1 Vas P: "Vector ControI of AC Machines", Oxford University Press, 1990.
2 Vas P: "Electrical Machines and Drives: A Space-VectorTheory Approach", Oxford University Press, 1992.
3 Vas P, Dnvy W Vectorcontrolled drives,PCIM, Numberg, 213-228,1994.
4 Vas P: "Parameter Estimation, Condition Monitoring and Diagnosis of Electrical Machines", Oxford University
hess, 1993.
5 Talcahashi I, Nagushi T: A new quick response and high-efticiency control strategv of an induction motor, IEEE
Trans on Ind Appl, Vol IAS-22,820-827,1986.
6 Depenbrock M: Direkte Selbstregelung (DSR) fur hochdynamische Drehfeldantriebe mit Stromrichteqeisung,
ETZ Archiv, V017 211-218, 1988.
7 Direct Torque Conrrol, Intelligent Motion,PClM Europe, 19, Jan/Feb 1995.
8 Is direct torque control dn'ves ultimate limit? Drives & Control, 18-19, Jan 1995.
9 Du T,Vas P, Stronach AF, Brdys MA: Applications of Kalman filters and extended Luenberger observers in
induction motor drives, PCM, Numberg, 365-386,1994.
10 Ljung L: 'Asymptotic behaviour of the extended Kalman filter as a parameter estimator for linear system', IEEE
Trans.on Automatic Control, Vol AC-24. pp 3640,1999.
11 Du T, Vas P, Stronach A: Application of non-linear estimators in high performance induction motor drives, hoc.
of ICEM, Paris, 403408,1994.
12 Du T,Vas P,Stronach, AF: Design and application of extended observers for joint state and parameter estimation
hl high-perfo~mancea~ d r i ~hoc ~ , IEE, P~ B,V O 142,~ NO2,71-98,1995.
13 Stronach AF & Vas P: Variable-speed drives incorporating interacting multi-loop adaptive controllers. IEE,Proc
Pt D,411-420, sept 1995.
y Information Control, Vol8,338-353,1965.
14 Zadeh LA:F u ~ sets,
15 Mamdani EH: Application offuzzy algorithms for simple dynamic plant, Proc E, Vol 121,1585-1588.1994.
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16 k e CC: Fuzzy logic in control systems: fuzzy logic controller Pt 1 & 2, IEEE Trans. Syst Man eybem, Vol20,
4K-435, 1990.
17 Stronach AF, Vas P: Fuzzy-neural control of variable-speed ac drives,PCIM, Numberg, 117-129,1995.
18 Vas P, Chen J, Stronach AF: Application of improved fuzzy tuned and fuay controllers in variablespeed drives,
IEEControl '94, Coventry, 1501-1u)6, 1994.
19 Vas P, Stronach AF, N m t h M: Tuning of €uzzy, pole-placement, PID and optimal controllers for vector-
conmlled drives, PCKM, Numberg, 53 1445,1995.
20 Vas P, Stronach AF, Neuroth M: A fuzzy controlled, speed sensorless induction motor drive with flux estimators,
IEEEMD, Durham, 3 15-3 19, 1995.

7/8 0 4995 The Institution of Electrical Engineers.

Prin!ed and published by the IEE, Savoy Place, London WCPR OBL,