Acta Electrotechnica et Informatica No. 2, Vol.

7, 2007 1

FUZZY LOGIC CONTROL OF INDUCTION MOTOR WITH INPUT OUTPUT

FEEDBACK LINEARIZATION

*
Mohammed CHENAFA, **Abdelkader MEROUFEL, *Abdellah MANSOURI, **Ahmed MASSOUM
*
Department of electrical engineering, E.NS.E.T. Oran, Laboratory of Automatics and Systems Analysis (L.A.A.S), B.P.
1523 El.M’naouer, Oran ,Algeria, Email : chenafa@enset-oran.dz
**
Department Intelligent Control & Electrical Power Systems Laboratory (ICEPS). Faculty of engineer sciences. Department
of electrical engineering, Djillali Liabes University, Sidi Bel Abbes, Algeria, Email : ameroufel@yahoo.fr

SUMMARY
The proposed system combines the input-output linearization technique and the advantages of fuzzy logic control
(intuitiveness, simplicity, easy implementation and minimal knowledge of system dynamics) to obtain a robust, fast and
precise control of induction motor speed. The input-output linearizing controller decouples the flux control from the speed
control and makes the synthesis of linear controllers possible. However, in practice, parameter variations limit the evolution
of the machine flux and the rotor speed. So, a speed fuzzy logic controller for induction motor via feedback linearization with
input-output decoupling is presented here in order to achieve better tracking performances. The signal rotor flux is estimated
with a nonlinear observer and controlled by classical regulator. Simulation results show the importance of the inclusion of
fuzzy logic in designing input-output linearizing control laws. Similarly, it validates the robustness and effectiveness of the
proposed fuzzy logic controller for high performance of input-output linearized induction motor drive.

Keywords: Induction Motor (IM), Input-Output Linearization (IOL), Fuzzy Logic Controller (FLC), and Nonlinear
Observer (NLO).

1. INDRODUCTION good as the expertise is involved in the design. In

Recently, due to the rapid improvements in
power electronics and microprocessors, the field
oriented control or the feedback linearization
techniques have made the application of the IM
drives for high performance applications possible
[1,2,3]. In the field oriented method, the decoupling
relationship is obtained by the means of proper
selection of the state coordinates, under the
simplifying hypothesis that the rotor flux is kept
constant. Therefore, the rotor speed is only
asymptotically decoupled from the rotor flux [4].
The IOL method used the differential geometric
approach to design a full linearizing state feedback
controller for the IM [5]. The decoupling condition
always holds, but the parameters of the IM must be
precisely known and accurate information on the
rotor flux is required. Some rotor flux observer were
proposed to estimate the rotor flux [6,7]. The
parameter uncertainty in the IM is owing mainly to
the thermal variation and the load torque change
which are slowly varying in general. Adaptive
controller is very suitable for this kind of system.
The design of classical adaptive control system is
based on mathematical modelling and the
implementation of such system is usually complex
due to the computationally intensive algorithms
[8,9]. However, in the robust control methods, fuzzy
logic control technique, has been successfully
applied to the control of motor drives in recent years
[10]. FLC is implemented using fuzzy reasoning
which is simpler since it does not need complicated
mathematical manipulation. In the proposed system,
FLC is used to drive the speed rotor. It requires
this control strategy it is assumed that all the states
are measured. In fact, a part of the states, the rotor
fluxes are not easily measurable. A NLO is used to
provide estimates of the rotor flux states.
This paper presents a theoretical study of speed FLC
for IM drives using IOL technique in order to
decompose the motor model into two separate
subsystems, rotor speed and rotor flux amplitude.
This work is organised as: Section 2, the
nonlinear mathematical model is first presented.
Section 3 describes IOL technique and is application
to IM. Section 4 develops the suggested design of
FLC. In section 5, is presented the detailed analysis
of nonlinear observer for rotor flux. In section 6,
simulation results are given to demonstrate the
advantages of the proposed scheme. Various tests of
Speed FLC scheme under different motor operation
conditions are presented to show the control
properties. Finally, conclusion and further studies
are explained in the last section.
2. NONLINEAR INDUCTION MOTOR
MODEL
In order to reduce the complexity of the three
phase model, an equivalent two phase representation
is chosen. Nonlinear control allows controlling the
model in a stator fixed reference frame avoiding the
transformation in rotation reference frame [11].
Under the assumptions of linearity of the magnetic
model in the fixed stator D, E reference frame can
circuit and neglecting iron losses, a three phase IM
be described as [12]:

f ( x)  gu f ( x)  g1uDs  g 2 uEs
expertise knowledge of the system for FLC
parameter setting, and the controller can be only as x (1)

ISSN 1335-8243 © 2007 Faculty of Electrical Engineering and Informatics, Technical University of Košice, Slovak Republic
2 Fuzzy Logic Control of Induction Motor with Input Output Feedback Linearization

Where: us (uDs uEs )T stator voltage, Thus the derivatives of the outputs are given by
Ir (IDr IEr ) : rotor flux,
L f h1 ( x)  Lg1 h1 ( x)uDs  Lg2 h1 ( x)uEs
T

h1 ( x)
is (iDs iEs )T : stator current, : : mechanical speed,
h2 ( x) L f h2 ( x) (4)

ª º h2 ( x) L h2 ( x)  Lg1 L f h2 ( x)uDs  Lg2 L f h2 ( x )uEs

« QiDs  T IDr  p:K IEr »
2
K f

« »
« »
r

« QiEs  p:K IDr  T IEr »

K Lie derivative expressions are given in appendix B
« »
«M »
r
f ( x)
« iDs  IDr  p:IEr »
1 In the next step the IOL of the nominal system is

« r »
performed. The nominal part of the IM model is
«M »
T T r written in the form of higher derivatives of inputs.
« iEs  p:IDr  IEr »
1
¬« Tr Tr ¼» ª h1 ( x) º ª L f h1 ( x) º ª uD s º
« » « 2 »  D( x) « »
¬« h2 ( x) ¼» ¬« L f h2 ( x) ¼» ¬uEs ¼
(5)

ª 1 º ª º
« 0 0 0» , g 2 «0 0 0»
T T
1
¬ VLs ¼ ¬ VLs ¼
g1
ª Lg1 h1 ( x ) Lg2 h1 ( x) º
« »
¬« Lg1 L f h2 ( x ) Lg1 L f h2 ( x) ¼»
Where D ( x)

V 1 ,Q 
M2 Rs Rr M 2
VLs VLs L2r
,
Lr Ls

except at the motor start up, where Ir 0

is the decoupling matrix. D(x) is non singular,

2 pK 2 Rr (ID2 r  IE2r )] . The linearized and

M Lr
VLs Lr
K , Tr , g ( g1 g 2 )T
Rr [det D( x)
decoupled IM model is obtained by an appropriate
ª¬uDs uEs º¼ in the
T
We want to control the electromagnetic torque Te selection of the control input u
and the square rotor flux Ir 2 . Then, the output form

ª u Ds º ª  L f h1 ( x)  v1 º
equation is:

« » D 1 ( x ) « 2 »
ª M º ¬uEs ¼ «¬  L f h2 ( x)  v2 »¼
« p L (IDr iEs  IEr iDs ) »
(6)
ª h1 ( x) º
« h ( x) » « »
¬ 2 ¼ « »
>v1 v2 @ is the new system inputs. The
y ( x) (2)
I  I
r

¬ Dr Er ¼
2 2 T
Note that v
resulting closed loop system is governed by the
Where Te : Electromagnetic torque, equation (7)
TL : Load torque
The parameters of the considered motor are given in h1 ( x) v1
(7)
appendix B. h2 ( x) v2

3. IOL TECHNIQUE The new input signal ‘ v ’ is chosen following simple

linear pole placement technique to guarantee
The IOL technique is based on exact cancellation stability.

k p1 (T  Tref )  Tref
of the system’s nonlinearities in order to obtain a
linear relationship between the control inputs and the v1
k p 2 (Ir2  Ir2 ref )  kd 2 (I r2  I r2 ref )  
Ir2 ref
system outputs in the closed loop. The nonlinear (8)
v2
control law is reduced to a successive differentiation
of each output until at least one input appears in the
derivative. The following notation will be used for Where Tref and I2r ref are torque and flux references.

R n o R along a vector field

the directional or Lie derivative of the output
function h( x ) :
f ( x) [ f1 ( x),..........., f n ( x)]T
Note that the references for torque and flux have to
be once or twice differentiated. Thus we
implemented a second order state variable filter for
the flux where the states give the flux reference and

¦
wh( x)
n
their derivatives. Since we want to control speed we

wxi
L f h( x ) f i ( x) (3) implement a FLC which gives the reference torque
i 1 and compensate variations of the load torque.

ISSN 1335-8243 © 2007 Faculty of Electrical Engineering and Informatics, Technical University of Košice, Slovak Republic
Acta Electrotechnica et Informatica No. 2, Vol. 7, 2007 3

4. FLC DESIGN 4.2. Design of FLC

The fuzzy controller is used to perform nonlinear
decoupling control in order to obtain better
responses under parameter variations [13].
4.1. Fundamentals of FLC
The schematic diagram of a FLC for IM drive is
shown in fig.1
Fig. 1 Internal FLC structure
The inputs to the fuzzy controller are error ( e )
and variation error ( de ). The output of the fuzzy
controller is ( du ). The universe of ( e ), ( de ), and
( du ) are partitioned into three fuzzy sets. NB
(Negative Big), EZ (Equal Zero), and PB (Positive
Big). Each fuzzy set is represented by triangular
membership function or trapezoidal membership
function (see fig.2 (a)). The rule base of the FLC
contains nine rules based on the IF-THEN structure
which are tabulated in table1. The crisp output of the
FLC is obtained by using Max-Min inference
algorithm and the centre of gravity defuzzification
approach. It is known that the sensitivity and
performance of FLC system are significantly
affected by the weighting factors C1, C2, and C3.
However, we lack a general methodology for
choosing these factors. In this paper, a trial and error
approach is used to determine and adjust these
weighting factors [13]. The control surface fig.2 (b)
represented by a three dimensional graphic showing
the output variable corresponding to all
combinations of values of the inputs can be used to
facilitate the FLC tuning.

The FLC has three functional blocks for e de du

1 1 1
calculation and knowledge base which contains two
Degree of membership

0.8 0.8 0.8

databases. The functional blocks in FLC are 0.6 NB EZ PB 0.6 NB EZ PB 0.6 NB EZ PB (a)
0.4 0.4 0.4
0.2 0.2 0.2
0 0 0
1. Fuzzification -100 0 100 -0.5 0 0.5 -200 0 200

Fuzzification is defined as the mapping from a real 100

valued point to fuzzy set. In most fuzzy decision
du

0
systems, non fuzzy input data is mapped to fuzzy (b)
-100
sets by treating them as triangular membership 0.5 100
0 50
functions, gaussian membership functions, ... de -0.5
-100
-50 0 e

Fig. 2 Membership functions (a)

2. Inference mechanism
and input-output map (b)
Fuzzy inference is used to combine the fuzzy IF-
THEN in the fuzzy rule base, and to convert input
information into output membership functions. An
inference mechanism emulates the expert’s decision
making in interpreting and applying knowledge
about how to perform good control. The rule may
use the experts experience and control engineering
knowledge. There are three types fuzzy rule based
models for function approximation. Mandani model,
Takagi-sugeno model,and Kosko’s addition model. Tab.1 Mamdani Rules

3. Defuzzification
There are many methods which can be used for
converting the conclusions of the inference
mechanism into the actual input for the plant. Centre
of gravity defuzzification method is often used [13].
Other defuzzification strategies can be found in
technique literatures.
5. NONLINEAR OBSERVER
Variable speed AC drives based on IOL control
require an evaluation of the instantaneous magnetic
flux of the rotor. Here, a NLO [12] is used to
construct the unknown states of the rotor flux. This
observer is given by

ISSN 1335-8243 © 2007 Faculty of Electrical Engineering and Informatics, Technical University of Košice, Slovak Republic
4 Fuzzy Logic Control of Induction Motor with Input Output Feedback Linearization

ª º
«Q 0 T p:K »
Where
ªk1
K
0 º
« » « »
« K»  k1 » ª fDi º
« 0 (iDs IDr  iˆEs Iˆ Er )
t

«0  Q  p:K » « » (9)
2M ˆ ˆ
« »
hˆ3
« p:k2 » uˆs  « »
t »
xˆ  gu  « 2
T fEi
«M » « 0 »
xˆ
k Tt
0   p: » « Tr »
« « »
« » ' IDr  p:Iˆ Er )iˆDs  2( 2 Iˆ Er  p:Iˆ Dr )iˆEs
1
« r » ¬«0 ¼»
k2 ˆ k
« p:k2  2 »
2(
« 1 »
T T k
«
¬ Tr ¼»
t

p: 
Tr Tr
«0 »
M
¬« Tr Tr ¼»
ĥ3 is an artificial auxiliary output [12].

(isT ITr )T : the estimated state,

 
xˆ f Di fEi are
defined by the whole stability system in [12] with Let us differentiate ĥ3

2T L fˆ hˆ3  Lg1 hˆ3 uDs  Lg2 hˆ3 uEs


k1 hˆ3 (14)
T T 2 2

K [1  ( p:Tr ) 2 ]
r
k2

This leads, in fine, to:

x  xˆ ª L hˆ  L hˆ u  L hˆ u º
ª hˆ º
This leads to the following error equation x
« 1» « fˆ 1 g1 1 Ds g 2 1 Es
»
« hˆ » « 2 »
ª º « 2» «  hˆ2  hˆ3  ' »
«Q  k1 p:K » « Tr »
K (15)
« ˆ »
« » « ˆ »
0

¬« 3 ¼» L h  Lg1 h3uDs  Lg2 h3uEs »

Tt
« K » ª fDi º ¬« fˆ 3 ¼
h
 Q   :
ˆ ˆ
« »
Tt » «« fEi »»
x «
0 k p K
x 
1

« M k2 » «0 »
(10)
«  p:k2   p: » « »
1
« Tr Tt » ¬«0 ¼»
The Lie derivative estimates are given in appendix C
« 1 »
Tt

« p:k2  p:  »
M k2
¬« Tr Tr Tr »¼ The error between the desired trajectory of the
outputs and the estimate outputs are

ª hˆ1  h1ref º
ªe1 º « »
The two controlled outputs of the system are
unknown, so, we define the estimated outputs « » « hˆ2  h2 ref »
«e2 » « »
(16)
«¬e3 »¼ « hˆ3  h3ref »
ª M º ¬ ¼
ª hˆ1 ( x) º «p L (Iˆ Dr iˆEs  Iˆ Er iˆDr ) »
« » « r »
«¬ hˆ2 ( x) »¼
(11)
« Iˆ D2 r  Iˆ E2r »
¬ ¼
Let us design the control inputs as:

ªuDs º ª Lg1 hˆ1 Lg2 hˆ1 º ªLfˆ h1  k p1 e1  h1ref º

1

« » (17)

« »
ˆ
« »
¬uEs ¼ «¬ Lg1 hˆ3 Lg2 hˆ3 »¼ «¬Lfˆ hˆ3  e2  k p3 e3  h3ref »¼
The derivatives of ĥ1 and ĥ2 are defined as: *

L fˆ hˆ1  Lg1 hˆ1uDs  Lg2 hˆ1uEs


hˆ1
(12)
 This leads to:
hˆ2 L fˆ hˆ2
ª k p1 e1 º
ªe1 º « »
As L f hˆ2 is not function of the control inputs, we «e » «  2 hˆ  hˆ  '  hˆ »
« 2» « T 2 3 » (18)
«¬e3 »¼ « r »
2 ref
should derive once again. But L f hˆ2 contains terms
function of currents, differentiating these terms «¬ e2  k p3 e3 »¼
introduces terms of flux which are unknown. To
over this problem, his can be written as[12]:
Taking h3ref as :

 h2  h3  '
h2  h2 ref  k p 2 e2
2 ˆ ˆ
L f hˆ2 (13) 2 ˆ 
Tr h3ref (19)
Tr

ISSN 1335-8243 © 2007 Faculty of Electrical Engineering and Informatics, Technical University of Košice, Slovak Republic
Acta Electrotechnica et Informatica No. 2, Vol. 7, 2007 5

Leads to ( ' is set to zero) 6. SIMULATION RESULTS

ª e1 º ª k p1 0 0 º ª e1 º
« »« »
The proposed FLC for controlling the speed of
« »
« e2 » « 0  k p2 1 » « e2 »
IM with IOL decoupling and flux NLO was
« » «e »
(20)
¬« e3 ¼» ¬« 0  1  k p3 ¼» ¬ 3 ¼
designed for 1.1kw drive is represented in fig.3.
The performance was verified by means of
simulations. Parameter values of the IM are given in
the appendix A. In order to valid the algorithm for a
A simple linear study would be sufficient to large operating domain, we use the reference
establish the stability of (20). profiles shown on figure.4

Fig. 3 Speed FLC for IM decoupled with IOL

Fig.5 shows in increasing regime or decreasing linearization technique. So, the observed flux or
regime, the rotor speed tracks the reference speed rotor flux, after a short transient regime in start up
with smooth constant delay. In constant regime, the fellows only the reference flux and is independent of
rotor speed follows exactly the reference speed. At the speed and torque variations.
the abrupt variations of the speed or the load torque
a transient pick appears in the speed error which
200
shows the reaction of the corrector in the speed
ref erence speed (rad/s)
response.
0
Fig.6 shows that the electromagnetic torque
follows the load torque when the speed is constant. -200
0 1 2 3 4 5 6 7 8 [s] 9
During an increase or decrease of the speed the
electromagnetic torque tracks the load torque with
an augmented torque corresponding to accelerator or ref erence rotor f lux (Wb)
0.5
decelerator torque.
The performance of the drive is tested for 0
parameter variation, which is shown in fig.7 the 0 1 2 3 4 5 6 7 8
[s]
9

inertia is doubled. It shown from this figure that the 60

proposed drive can fellow the command speed 40

ref erence load torque (Nm)

almost accurately due to the robustness of the FLC. 20

From fig.8 we remark a good tracking in flux
0
regulation and flux observation.
0 1 2 3 4 5 6 7 8 9
[s]
Fig.9 shows that the decoupling between the axis
‘d’ and ‘q’ is maintained under load (see speed
error) and speed variations by the input-output Fig. 4 Reference trajectories

ISSN 1335-8243 © 2007 Faculty of Electrical Engineering and Informatics, Technical University of Košice, Slovak Republic
6 Fuzzy Logic Control of Induction Motor with Input Output Feedback Linearization

200 200
ref erence speed (rad/s) ref erence speed (rad/s)
rotor speed (rad/s) rotor speed (rad/s)
0 0

-200 -200
0 1 2 3 4 5 6 7 8 [s] 9 0 1 2 3 4 5 6 7 8 9
[s]
5 60
40 electromagnetic torque (Nm)
speed error tracking (rad/s)
20 load torque (Nm)
0
0
-20
-5 0 1 2 3 4 5 6 7 8
0 1 2 3 4 5 6 7 8 [s] 9
[s] 9
0.8
60
40 electromagnetic torque (Nm)
0.8 observ ed rotor f lux (Wb)
load torque (Nm) 0.6 0.6
20
0.4
0 0 0.05 0.1
0.4
-20 0 1 2 3 4 5 6 7 8 9
0 1 2 3 4 5 6 7 8 9 [s]
[s]

Fig. 5 Speed variations under nominal inertia Fig. 9 Speed variations with constant flux
and load variations

200 7. CONCLUSION
ref erence speed (rad/s)
0 rotor speed (rad/s)

-200
0 1 2 3 4 5 6 7 8
[s]
9
The different results obtained show that the
2
speed error tracking (rad/s)
developed FLC used with NLC method gives very
0 good performances for the induction motor control.
-2
The decoupling between the rotor flux and rotor
0 1 2 3 4 5 6 7 8 [s] 9
60
speed is maintained under load and speed variations
electromagnetic torque (Nm)
40
load torque (Nm)
( fig.9).The advantages of the proposed NLO may be
20
0 resumed as follows: high convergence rate of the

time in the choice of T . The combination of the

-20
0 1 2 3 4 5 6 7 8
[s]
9 rotor flux components estimation and computational

Fig. 6 Speed variations under double inertia and decoupling by nonlinear state feedback and the FLC
load variations theory based on linguistic expert control
interpretations permits to avoid the problem of flux
orientation and inexactitude of the representative
system model. This strategy of control gives a stable
50
electromagnetic torque (Nm) system with a satisfactory performance either with
40 or without load variations. The performance depends
30 on the operator expertise. The proposed speed FLC
20
load torque (Nm) has a good robustness and less sensitive to parameter
variations. The assumption made in the development
10
of this control law is the linearity of the magnetic
0
circuit of the machine. However, there is no
0 1 2 3 4 5 6 7 8
[s]
9 guarantee that the magnetic flux remains in the
linear magnetic region during machine transients.
Fig. 7 Electromagnetic torque and load torque Then, the problem of controlling the IM with
magnetic saturation will be studied in the
perspective.
1 rotor f lux (Wb)

ref erence rotor f lux (Wb)

0
[s] 3
APPENDIX
0 0.5 1 1.5 2 2.5

rotor f lux (Wb)

1
A. Induction motor parameters
observ ed rotor f lux (Wb)
0
0 0.5 1 1.5 2 2.5 [s] 3
0.8
0.6 rotor f lux error tracking (Wb)
The induction motor used in this drive system is
0.4
0.2
0
a three-phase, Y-connected, four poles, 1.1Kw,
-0.2
-0.4 60Hz, 220V/2.6A type. The nominal values of the
0 0.5 1 1.5 2 2.5 [s] 3
motor used in this simulation are given in the table
below.
Fig. 8 Zoom of flux responses

ISSN 1335-8243 © 2007 Faculty of Electrical Engineering and Informatics, Technical University of Košice, Slovak Republic
Acta Electrotechnica et Informatica No. 2, Vol. 7, 2007 7

 IDr f1  IEr f 2  iDs f3 

2M ˆ ˆ 2M ˆ ˆ 2M ˆ ˆ 2M ˆ ˆ
L fˆ hˆ3 iEs f 4
Tr Tr Tr Tr

p IEr
M ˆ
VLsTr
Lg1 hˆ3

I Dr
M ˆ
VLsTr
Lg2 hˆ3 p

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ISSN 1335-8243 © 2007 Faculty of Electrical Engineering and Informatics, Technical University of Košice, Slovak Republic
8 Fuzzy Logic Control of Induction Motor with Input Output Feedback Linearization
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[13] A. Meroufel , A. Massoum, B. Belabes :
Fuzzy logic control of permanent magnet
synchronous machine fed by voltage source
inverter via input output linearization. Revue
roumaine des sciences techniques, serie
Electrotechnique et energétique, tome 49,
juillet-septembre 2004, p.385-393
BIOGRAPHIES
Mohammed Chenafa : was born in Oran in Algeria,
in 1954. He received his BS degree in electronic
engineering from USTO (Algeria) in 1979, the MS
degree in signal processing and robotic from USTO
(Algeria) in 1998, and the PhD degree in
engineering control from USTO (Algeria) in 2005.
He is currently professor of automatic control at
ENSET of Oran (Algeria). His research interests are
non linear control and observers applied in induction
motor and manipulator robot.
Abdelkader Meroufel: was born in Sidi Bel-Abbes
(Algeria) in 1954. He received his BS degree in
Electrical ingeneering from the USTOran (Algeria)
ISSN 1335-8243 © 2007 Faculty of Electrical Engineering and Informatics, Technical University of Košice, Slovak Republic
in 1979, the MS degree from the same University
(USTO) in 1990 and the PhD degree from The
Electrical Engeneering Institute of University of Sidi
Bel-Abbes (Algeria) in 2004. He is currently
Professor of electrical engineering in this University.
He is a member of ICEPS (Intelligent Control
Electrical Power System) Laboratory. His research
interests are robust control of electrical machines.
Abdellah Mansouri : was born in Oran in Algeria,
in 1953. He received his BS degree in electronic
engineering from USTO (Algeria) in 1979, the MS
degree in engineering control from USTO (Algeria)
in 1991, and the PhD degree in engineering control
from USTO (Algeria) in 2004. He is currently
professor of automatic control at ENSET of Oran
(Algeria). His research interests are non linear
control and observers applied in induction motor and
manipulator robot.
Ahmed Massoum: was born in 1959 in M’sirda
Fouaga, Tlemcen, Algeria. He received his BS
degree in electrical engineering from the Electrical
Engineering Institute (INELEC) of Boumerdes 1985
and the MS degree from the Electrical Engineering
Institute of Sidi Bel-Abbes University in 2004 where
he is currently Professor of electrical engineering.
He is a member in Intelligent Control Electrical
Power System Laboratory (ICEPS).