International Review on Modelling and Simulations (I.RE.MO.S.), Vol. 9, N.

6
ISSN 1974-9821 December 2016

Input-Output Feedback Linearizing Control Based on the

Adaptive Flux Observer of the Induction Motor

M. E. A. Boukhalfa, B. Mazari, H. Hamdaoui

Abstract – In this paper a new technique for the adaptive control of the induction motor is
proposed. This technique, which is based on nonlinear control and the adaptive flux observer,
maintains the performance of the induction motor. Using this observation technique, the output
variables and the unknown parameters estimated by the adaptive flux observer, in the nonlinear
control of the induction machine made it possible to achieve remarkable performances. To test the
robustness of this control technique, variations of the parameters of the induction machine were
applied at different times; the simulation results found confirmed our theoretical study and were
very satisfactory with respect to the variation of the parameters. Copyright © 2016 Praise Worthy
Prize S.r.l. - All rights reserved.

Keywords: Induction Motor, Adaptive Flux Observer, Nonlinear, Adaptive, Feedback, Lyaponov

Nomenclature Nonlinear control appears to be insufficient if the

controlled part is subjected to parametric disturbances
ω The rotor speed and variations due to the effects of its operation such as
(ψrα, ψrβ) The rotor fluxes temperature and saturation [9]. Thus, some authors
(isα, isβ) The stator currents propose the adaptive control by reference model, others
(usα, usβ) The stator voltages in a fixed reference the compensation of perturbations with thermals
attached to the stator additives to the control algorithm [10], [26]. In this work,
TL Load torque the adaptive flux observer [27][28] was used to
J Motor moment of inertia compensate the perturbations caused in the induction
(Rs, Rr) Stator and rotor windings resistances machine in the form of parametric variations (resistive
(Ls, Lr) Inductances torque, rotor and stator resistances). Once the
M Mutual inductance perturbations and the output variables of the induction
Lf h  x Lie derivates machine are estimated, they are used as input variables
Zi (1,2,….) Change of variables for the nonlinear control algorithm of the induction
, Control variables machine. We conclude with a conclusion on the
conformity of simulation results in robust control.
Det The determinant

I. Introduction II. Nonlinear Model of Induction Motor

In general, the flux of the induction machine is
Most variable drives use the induction machine (IM)
difficult to access, so the stator currents are chosen as the
because of its many advantages in performance and
measured output vector [11]. In the case of control with
robustness [1]-[28]. Its main disadvantage lies in the
sensor, the speed is considered as a measured output
complexity of its multi-variable model which is nonlinear
[12]. Generally, the load torque is considered as an input
and strongly coupled [2], [3].
[13]. The model of the induction machine in the fixed
The vector control technique, which is based on the
frame (α, β) is defined with the nonlinear state as [14],
flux orientation, allows the flux and torque to be
[15]:
independently decoupled and controlled [4]. However,
precise knowledge of the position of the flux had a x  f  x   g  x  u (1)
problem of precision [5], [6].
The linearization technique introduced by a counter- we note:
reaction of nonlinear state allows to deduce the model of
the induction machine into two linear sub-systems, T T
x   x1 ,x2 ,x3 ,x4 ,x5    m ,  ,  ,i ,i 
mono-variable and independent [7]. This technique has
the advantage of controlling the torque even it was in the
deflux regime [8]. and:

Copyright © 2016 Praise Worthy Prize S.r.l. - All rights reserved DOI: 10.15866/iremos.v9i6.10968

399
 M. E. A. Boukhalfa, B. Mazari, H. Hamdaoui

T
u  u u  ̇ =− +
(5)
with: ̇ =− +
 TlN 

 f1  x       i   i  J  
    in which α and are the estimates for the uncertain
 f 2  x       n p  m    Mi  parameters α and RS, whose estimation laws are yet to be
f  x    f3  x     n       Mi  (1a) designed along with the terms and . We shall apply
   p m    
 f 4  x      n      i  the two-time-scale arguments which have been
 f  x    p m  
 successfully used in [10] (see also [18], [19]) and which
 5   n        i 
 p m    will allow us to isolate the estimation of the stator
resistance from the estimation of rotor fluxes and rotor
resistance so that a persistency of excitation condition
 0 0 
 0 with a clear interpretation is obtained.
 0  We first design a flux observer and rotor resistance
 0 0  estimator in the case of known stator resistance (that is
  =RS). This can be simply done by introducing the
g  x    g  x  g   x     1 (1b)
0  estimation errors ̃ = − ̂ , ̃ = − ̂ ,
  Ls 
  = − , = − , = − and by
 0 1 
considering the quadratic function ( and are
  Ls 
 positive design parameters):

Let us introduce the following definitions [16], [17]: 1 1 1

= ̃ + ̃ + + + (6)
2 2 2
   RrN / Lr   1 / Tr
 Whose time derivative along the trajectories of the
    M /  Ls Lr  estimation error system satisfies the Lyaponov function
 (2) [14]:
 2 2
  M RrN /  Ls Lr   Rs /  Ls  
 ̇ =−

   n p M / JLr  ̃ + ̃ + ̃ + ̃

where: Provide that in [20]:

Lr
Tr  =− [ ̃ − ̃ ]
RrN
= [ ̃ + ̃ ]
III. Adaptive Flux Observer
̇ = − [ (1 + ) − ̃ +
In [10], R. Marino first introduces the variables: (7)
+ (1 + ) − ̃ ]

=− + By virtue of a straightforward modification of the

(3) persistency of Excitation [10], we can establish that if
=− + there exist two positive reals tp and kp such that the
persistency of excitation conditions (I3 is the 3 × 3
The advantage of using the ( , ) variables are that identity matrix) [20]:
their dynamics depend neither on the unmeasured rotor
fluxes not on the uncertain rotor resistance:
( ) ≥ , ∀ ≥0 (8)
̂̇ =− − (1 + ) − ̂ + +
Holds with:
+ + + ( − ̂ )
(4) ( − )
=
̇̂ − ( − )
=− − (1 + ) + ̂ +

+ − + + ( − ̂ ) Then the origin of the ( ̃ , ̃ , , , ) system is

locally exponentially stable.

Copyright © 2016 Praise Worthy Prize S.r.l. - All rights reserved International Review on Modelling and Simulations, Vol. 9, N. 6

400
 M. E. A. Boukhalfa, B. Mazari, H. Hamdaoui

Exponential rotor flux and rotor resistance estimates with ( ) a suitable time function. The function ( )
are thus obtained in [20] by: appearing in ( ) depends on the steady-state solution to
the estimation error system and is clearly unknown [20].
1 ̂ − We however introduce, as in [18], the following
=−
̂ − (9) sufficient condition for the stator resistance identifiably
= at steady-state from the signal + :

Note that when the rotor speed and the rotor flux ( )≥ > 0, ∀ ≥ 0
modulus are constants and the load torque is zero, so that
=Misα and = Misβ, the persistency of excitation (8) with a positive real, that is the assumption that the
cannot be satisfied. Recall that in these operating influence of ( ) does not affect the positive sign of
conditions the rotor resistance cannot be identified by ( ) (note that if ( ) ≡ 0 the positiveness of ( ) is
stator currents and rotor speed measurements since the clearly related to stator resistance identifiability
motor Eq. (1): conditions). We thus obtain:

̇ = 0, ̇ =− , ̇ = ̇ = [ − ̂ − ( − ̂ ) +
(13)
(10) − ( − ̂ ) − − ̂ ]
=− , =
in which KR is a sufficiently small positive design
parameter. Finally the design of the second order load
and do not depend on the rotor resistance Rr. On the other torque identifier which can be used in conjunction with
hand, it suffices that the rotor speed and the rotor flux the adaptive flux observer (Kω and KT are positive design
modulus are constants (with + = > 0) and the parameters):
load torque is non-zero to satisfy inequality (8) with
tp= ̇ where is the rotor flux vector angle. ̇ = + − + ( − )
Recall that in the conditions above: (14)
=− ( − )
+ = + To provide an online estimate of the load torque along
with an estimate of the measured rotor speed. The profile
is based on the quadratic function:
+ =
(11) 1 1
= + + (15)
2 2
− =
in which = ( − ), =( − ), > 0 is a
sufficiently small positive real.
̇ = +

So that the system (1) is locally observable at the

IV. Non Linear Control
extended state ( , , , and ) from ( , , Because the relative r1 and r2 associated with each
and ) measurements [18]. We now apply the two-time- output is greater than one the total relative degree [21],
scale arguments by invoking a similar assumption to that [22] r = r1 + r2 = 4 < 5. The system is siding partly
used in [10], that is the existence of a steady-state linearized [8]. The outputs to be controlled (see [23]) are
solution to the estimation error system (when a stator ω and ψrα2+ ψrβ2. Define the change of coordinates:
resistance estimation error = − appears); the
measurable component + , at steady-state and y1  h1  x    m
in first approximation, according to: T̂l

y2  L f h1  x     r is  r  is   J
̇ =− − , ̇ =− − y3  h2  x    r2   r2
(16)
Is equal to: 
y4  L f h2  x   2ˆ  r2   r2  

2ˆ M  r is   r  is 
− ( ) + ( ) + ( ) ( )
(12)  r 
=− ( ) ( ) y5  h3  x   arctg  
  r 

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401
 M. E. A. Boukhalfa, B. Mazari, H. Hamdaoui

ˆ   Rr / Lr   1 / Tˆr The decoupling matrix D(x) is singular if and only if

 ψr2 is zero:
 (17)
 2ˆ 2 ˆ  
ˆ  M Rr /  Ls Lr  Rs /  Ls 
M 
Det  D   2     
2
r
2
r (24)
and:  Ls 2
Lr
T̂r 
R̂r As in [23], the closed-loop dynamics become in y
coordinates as shown in (Fig. 1):
The dynamics of the induction motor with nominal
parameters are given in new coordinates, in [17] by:  y1  y2

 y1  y2  y 2  v
  (25)
 y 2  L f h1  Lg L f h1u  Lg  L f h1u
2  y3  y4
  y  v
 y3  y4 (18)  4 

 y 4  L f h2  Lg L f h2 u  Lg  L f h2 u 
2
We note: α = ̇ and β = ̇ . The coefficients

 y5  L f h3  k1 ,k 2  and  k 1 ,k 2  are choosing to satisfy
asymptotic stability and excellent tracking, the
Then the first fourth equations are written as follow: simulation of nonlinear control of the induction motor is
shown in (Fig. 2).
2
y1   L f h1   Lg a L f h1
  Lgb L f h1   u  The internal inputs (Vsa, Vsb) are definite:
   2   
   (19)
 
y3   L f h2   Lg a L f h2 Lgb L f h2   u 
 
  
vs  k 1 y1  y1ref  k 2 y1  y1ref   
y1ref 

 k 1  y1   mref  t    k 2  y2  
mref  t   
The fifth equation can be written:

M  mref  t    k 1    mref  t    (26)
y5  L f h3  n p y1 
y3
 r is  r  is  (20)
 k 2    r is  r  is   Tl / J   
mref  t   

Let us consider that the control variables are the 

 mref  t 
voltages να, νβ. The principle method is to look for the
outputs with the dynamics depending on one of the
and:
defined control variables [24]. To obtain a closed-loop
input-output linearization, we choose the following
nonlinear state vector [12]:  
vs  k  1 y3  y3ref  k  2 y3  y3ref   
y2 ref 
1
 v  
u  D  x    A x (21)

  k  1 y3   ref
2
  k  y     
2 4 ref
2
ref
2

 v 
  

 k  1  r 2   r  2  ref  2
(27)
where:
 L f 2 h1 

  M  r is   r  is    2

k  2  2    
ref

A x        2   2 
 L f 2 h2 
 
(22)
  r 
r

  
2
 ref
This law is defined if the matrix D(x) is non-singular.
In [25] D(x) is defined as:

 Lg L f h1 Lg  L f h1 
D  x   
 Lg L f h2 Lg  L f h2 
    (23)
   L  r   L  r 
s s
 
 2 M 2 M 
  r  r  Fig. 1. Feedback output linearization
  Ls  Ls 

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402
 M. E. A. Boukhalfa, B. Mazari, H. Hamdaoui

Fig. 2. Nonlinear control scheme of induction motor

V. Simulation Results decreases when decreasing the rotor resistance (Fig. 3).
The rotor flux in the Fig. 3 decreased with increase of
The simulations were performed by MATLAB / the stator resistance and increases at its decrease.
Simulink, engine specifications used are shown in Table
I. In all the figures, we note that the response of speed is
very fast, following the application of a level equal to V.2. Feedback Nonlinear Control with
157 rad/s. Update Parameters
Adaptation of unknown parameters:
V.1. Feedback Nonlinear Control without In the Fig. 4 we note a small degradation in speed
Update Parameters following the application of load torque at t = 0.5s, but
the speed returns to the reference by using the adaptation
When the application of a load torque at t = 0.5s with of load torque buy the adaptive flux observer in close
a value equal to 5 N∙m. In Fig. 3, there is degradation in loop with the nonlinear control of the induction motor.
the curve of the rotor speed due to the load torque In the Fig. 4 the rotor resistance is increased by a
application. We note no degradation on the rotor flux in value which is 150% of its nominal value at t = 1.5s does
all the figures when load torque is applied (it confirms not degrade the response of the rotor speed because the
the decoupling of rotor flux). There is a strong current of estimated value of the rotor resistance is given by the
Starter and then stabilization on all results, but when the adaptive flux observer. In the Fig. 4 there is no change on
load torque is applied the stator current presents an the speed response during the variation of the stator
increase in its value. There is a very good estimate of the resistance with a value of 150% of its nominal value (a
unknown parameters (the load torque, stator and rotor very good estimate of the stator resistance).
resistances). In Figs. 3 and 4 a small disturbance is noted
on each one of the estimated resistances when the other TABLE I
resistance varies, as the stator resistance is a function of a INDUCTION MACHINE PARAMETERS
rotor resistance and the rotor resistance is based on other Rated power Pn 0.6 kW
parameters that vary during the variation of the stator Rated frequency f 50 Hz
Number of pole pairs p 1 /
resistance. Variation of rotor and stator resistances: Stator resistance Rs 5.3 Ω
There is degradation in speed, because the increase of Rotor resistance Rr 3.3 Ω
the two resistances is decreasing the speed and when they Stator inductance Ls 0.365 H
decrease the speed increase. There is an increase of the Rotor inductance Lr 0.375 H
Mutual inductance M 0.34 H
rotor flux during the increase of the rotor resistance and Moment of inertia j 0.0075 kg∙m2

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403
 M. E. A. Boukhalfa, B. Mazari, H. Hamdaoui

160
20
140 Reference speed
Real speed

Stator current is(A)

120 10
Rotor speed (rad/s)

Estimated speed
100

80 0

60
-10 Real isb
40
Estimated isb
20
-20
0 0 1 2 3 4 5
0 1 2 3 4 5 Time t(s)
Time t(s)

6 1.5
Estimated load torque (N.m)

Rotor flux (wb)

4 1

2 0.5 Estimated rotor flux Qr

Real rotor flux Qr
1

0 0
0 1 2 3 4 5 0 1 2 3 4 5
Time t(s) Time t(s)

20
Estimated stator resistance (ohm)

10
Stator current is(A)

7 0

6 -10
Real isa
Estimated isa
5 -20
0 1 2 3 4 5 0 1 2 3 4 5
Time t(s) Time t(s)

8
Estimated rotor resistance (ohm)

2
0 1 2 3 4 5
Time t(s)

Fig. 3. Simulation results of feedback linearizing control of induction motor without update parameters

Copyright © 2016 Praise Worthy Prize S.r.l. - All rights reserved International Review on Modelling and Simulations, Vol. 9, N. 6

404
 M. E. A. Boukhalfa, B. Mazari, H. Hamdaoui

200 20
20
Real isa Real isb
150 Estimated isa Estimated isb
10
Rotor speed (rad/s)

Stator current (A)

10

Stator current (A)

100 Reference speed 0 0
Real speed
Estimated speed
50 -10 -10

-20 -20
0 0 1 2 3 4 5 0 1 2 3 4 5
0 1 2 3 4 5
Time t(s) Time t(s)
Time t(s)

160 6
158

Estimated load torque (N.m)

Rotor speed (rad/s)
Rotor speed (rad/s)

157
156 4
155
155 Reference speed
Reference speed
154 Real speed Real speed 2

Estimated speed 150 Estimated speed

153
0
1.5 1.55 1.6 2.5 2.6 2.7 0 1 2 3 4 5
Time t(s) Time t(s) Time t(s)

1.4 9
Stator resistance (ohm)

1.2 1.03
8 Estimated rotor flux

Rotor flux (wb)

1
Rotor flux (wb)

1.02 Real rotor flux

7
0.8
Estimated rotor flux
0.6 Real rotor flux 6 1.01
0.4
5
0.2
1
4
0 0 1 2 3 4 5 1.5 1.55 1.6
0 1 2 3 4 5
Time t(s) Time t(s) Time t(s)

10
1.02
Rotor resistance (ohm)

Estimated rotor flux

1.015
Real rotor flux 8
Rotor flux (wb)

1.01
6
1.005
1 4
0.995
0.99 2
0.985
0
2.5 2.55 2.6 0 1 2 3 4 5
Time t(s) Time t(s)

Fig. 4. Simulation results of feedback linearizing control of induction motor update parameters

VI. Conclusion The simulation results confirmed our hypotheses and

the robustness of this technique with respect to
We have tried in this theoretical study to arrive at a parametric variation.
robust control technique other than the adaptive control.
In order to verify the robustness of this technique,
perturbations have been applied to the induction machine References
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Copyright © 2016 Praise Worthy Prize S.r.l. - All rights reserved International Review on Modelling and Simulations, Vol. 9, N. 6

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Authors’ information
Mohammed El Amine Boukhalfa was born in
04 January 1990 in Sidi Bel Abbes, Algeria. He
obtained his master in electromecanical
engineering in 2012 at university of Djilali
Liabes of Sidi Bel Abbes, Algeria. He
participated in 2nd international conference on
automatic control and mechatronics CIAM
2015. He focused his researches on control of
electrical machines and studies of observers. Mr. Boukhalfa is sales
engineer at Chiali groupe, Sidi Bel Abbes.
E-mail: mohamedlamine.boukhalfa@univ-usto.com
Benyounes Mazari was born in (1953) received
the state engineer degree in electrical
engineering in 1978 from the University of
Sciences and Technology of Oran USTO
Algeria, the MSc degree from the University of
Colorado, Boulder USA in 1981 and the
Doctorate degree from the “Institute National
Polytechnique de Lorraine” INPL Nancy France
in 1991. Since 1982, he has been at the USTO-Oran and from 1987-
1991 he was on leave as a researcher at INPL (France). Since 1992 he
has been a Professor of electrical engineering at the same university.
His area of research includes power electronics, electrical drives and
FACTS in power systems.
Habib Hamdaoui was born in Sidi Bel-Abbes,
Algeria, in 1970. He received the B.Sc., M.Sc.
and Ph.D. degrees in electrical engineering from
the University of Djilali Liabes, Sidi Bel-Abbes,
in 1994, 1997 and 2004, respectively. His
research interests include stability improvement
by advanced FACTS devices, application of
artificial intelligent control in power system and
adaptive control of AC motors.
International Review on Modelling and Simulations, Vol. 9, N. 6