710 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 20, NO.

4, DECEMBER 2005

MRAS Observer for Sensorless Control of Standalone

Doubly Fed Induction Generators
Roberto Cárdenas, Member, IEEE, Rubén Peña, Member, IEEE, José Proboste, Greg Asher, Senior Member, IEEE,
and Jon Clare, Senior Member, IEEE

Abstract—This paper presents an analysis of a model reference Subscripts

adaptive system (MRAS) observer for the sensorless control of a Stator fixed coordinates.
standalone doubly fed induction generator (DFIG). The analysis Synchronous rotating coordinates.
allows the formal design of the MRAS observer of given dynamics
and further allows the prediction of rotor position estimation er- , Rotor or stator quantities.
rors under parameter mismatch. The MRAS observer analysis is 0 Quiescent point.
experimentally implemented for the vector control of a standalone
DFIG feeding a load at constant voltage and frequency. Experi- I. INTRODUCTION
mental results, including speed catching of an already spinning
machine, are presented and extensively discussed. Although the
method is validated for a standalone generator, the proposed
MRAS observer can be extended to other applications of the
T HE doubly fed induction generator (DFIG) has become
one of the main generators for high-power variable speed
wind energy conversion systems (WECS). It has many advan-
doubly fed induction machine.
tages when compared with the squirrel-cage induction generator
Index Terms—Induction generator, induction motor drives, [1], [2] since the power converters are in the rotor circuit and,
wind energy.
for restricted speed range applications, are rated at only a frac-
tion of the machine nominal power [1]. For the DFIG, sensor-
NOMENCLATURE less operation is desirable because the use of a position encoder
General has several drawbacks in term of robustness, cost, cabling, and
Stator or rotor flux. maintenance.
, , Magnetizing, rotor, stator inductance. Sensorless control of the variable speed doubly fed induction
, Rotor, stator resistance. machine (DFIM) has been addressed by several researchers
Stator or rotor current. [3]–[10]. The earliest [3] proposes a rotor flux-based estimator
Stator or rotor voltage. involving the integration of the rotor back-electromotive force
Stator leakage coefficient. (emf). This suffers from integration problems at low and
Total leakage coefficient. zero rotor frequency and gives poor performance for operation
Electrical torque. around synchronous speed. The sensorless control methods pre-
Time constant. sented in [4]–[8] are based on rotor current estimators in which
Number of poles. the estimated current is compared to the measured current and
Induction machine rotational speed. the rotor position is derived using an open-loop mathematical
Electrical frequency. identity. The rotor speed is obtained via differentiation. In [4],
Slip frequency. for example, the rotor current is estimated in the stator frame
Rotor position angle. using stator variables, while in [6], the commercial product
Slip angle. ROTODRIVE is presented in which an alternative rotor current
Electrical angle. estimator is proposed using load active and reactive power. In
Magnetizing current. [7], a simpler implementation is proposed at the cost of reduced
dynamics. It is noted that in all of these publications, the rotor
Superscripts
position accuracy and effect of parameter errors have not been
Estimated value.
addressed. The system dynamics and the formal estimator
Demanded value.
design procedures were also not considered.
This paper considers a stator-flux-based model reference
Manuscript received February 2, 2004; revised June 1, 2004. This work was adaptive system (MRAS) structure for observing the rotor
supported in part by Fondecyt under Grant 1010942, in part by The British
Council, and in part by The University of Magallanes. Paper no. TEC-00019- position and speed of a DFIM. The similar rotor-flux based
2004. MRAS applied to the squirrel-cage induction machine is well
R. Cárdenas, R. Peña, and J. Proboste are with the Electrical Engi-
neering Department, University of Magallanes, Punta Arenas, Chile (e-mail:
known [11]. The method has the advantages of simplicity and
rcd@ieee.org). is amenable to analysis [12]. However, when applied to a cage
G. Asher and J. Clare are with the School of Electrical and Electronic machine, it suffers from integrator drift effects at low excitation
Engineering, University of Nottingham, Nottingham NG7 2RD, U.K. (e-mail:
Greg.Asher@nottingham.ac.uk). frequency and its performance is dependent on resistance
Digital Object Identifier 10.1109/TEC.2005.847965 parameters. As will be shown in this paper, neither of these
0885-8969/$20.00 © 2005 IEEE
CÁRDENAS et al.: MRAS OBSERVER FOR SENSORLESS CONTROL OF STAND-ALONE DFIGs 711

Fig. 1. Sensorless vector-control scheme for a standalone DFIG.

effects occur when applied to a DFIM. The MRAS method has voltages. The machine equations written in a synchronously
been reported in [9] and [10] in which simulations only were rotating reference frame are [1], [2], and [13]
presented for a DFIM operating at very low speed. As with
other research into sensorless methods, the observer dynamics, (1)
the control design procedure, the sensorless accuracy, and the (2)
effect of parameter variations are not considered in [9] and [10]. (3)
These issues will be addressed in the present paper. Experi- (4)
mental validation over the speed ranges commonly associated
with DFIGs will also be presented. The stator flux-based MRAS (5)
observer will be presented in its application to a vector-con-
trolled standalone DFIG. However, it is understood that the (6)
principle of the MRAS structure is extendable to other DFIM
drive applications. Finally, the paper will also cover the starting (7)
regime in which the sensorless algorithm catches the speed of
the pre-revolving shaft. (8)

(9)

II. VECTOR CONTROL OF INDUCTION GENERATORS where the equivalent stator magnetizing current is supplied
FOR STANDALONE OPERATION entirely from the rotor. Aligning the axis of the reference
frame on the stator flux vector gives
The proposed control system is shown in Fig. 1. As is
appropriate for a standalone application, the vector control (10)
scheme is indirect [13] and contains demands for frequency
and magnetizing current to set the constant stator frequency and Eliminating using the definition for given in (1) and
voltage (stator resistance compensation is omitted for simplicity) eliminating using (10) yields, with
in the absence of a grid connection and irrespective of shaft
speed. The scheme is suitable for a variable speed diesel or
(11)
wind drive. The MRAS observer is represented by the block
diagrams inside the dotted box. Its output is the rotor angle
used to modulate/demodulate the rotor currents and reference (12)
712
where . Since the last two terms in (5) are zero for
constant flux operation, is seen to be small, and from (11)
it is thus seen that can be controlled using . The rotor
current can be controlled according to
(13)
which forces the orientation of the reference frame along the
stator flux vector position. The demodulation of the rotor de-
mand voltages uses the slip angle derived from
(14)
where is estimated from the MRAS observer. In this work,
the stator flux angle is derived from a free-running integral of the
stator frequency demand (50 Hz). This has the advantage that
the orientation is shielded from measurement noise and stator
voltage harmonics, which may be a problem in a standalone
application [13].
Since the proposed sensorless control system is not affected
by the operation of the PWM front-end converter, the control
of this converter is considered outside the scope of this paper.
A discussion about the control of the PWM front-end converter
can be found in [1] and [13].
III. MRAS OBSERVER FOR DFIM
A MRAS speed observer is used to estimate the rotational
speed and rotor position of the DFIM. This observer is based on
two models [11], [12]: the voltage model and the current model.
In a stationary frame, the voltage model is used to obtain the
stator flux as
(15)
The stator voltage drop will be small under rated op-
eration so that the flux estimate of (15) is relatively insensitive
to . Using a stationary frame, the stator flux is obtained from
the current model as
(16)
where is an estimation of the rotational speed. The current
is referred to the rotor frame. In the MRAS observer, the flux
obtained from (15) is used as the reference flux. By adjusting
the estimated rotational speed, the error between the reference
flux and the flux estimated from (16) is reduced. The error in
coordinates is defined as
(17)
Equations (15)–(17) are used to implement the MRAS speed
observer. The error calculated using (17) is driven to zero by a
proportional-integral (PI) controller. The output of this PI con-
troller is the estimated rotational speed used in (16). The imple-
mentation of the MRAS observer is shown in Fig. 2. The voltage
model is used to obtain the stator flux using a bandpass filter
as a modified integrator to block the dc components of the mea-
sured voltages and currents. Since and are at a frequency
well above the filter cut-off frequency, there is no deterioration
in integral action.
IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 20, NO. 4, DECEMBER 2005
A. Small-Signal Model
The small-signal model for the MRAS observer is derived
using a synchronous rotating frame. The error in coordi-
nates is
(18)
The small-signal model for the error is
(19)
For this small-signal system, it is assumed that
. Also , because the system is oriented along the
stator flux . Therefore, the small-signal model for the error
is
(20)
Referring (16) to a synchronously rotating frame yields
(21)
that is, the flux derived from the current model is not a
dc signal unless the estimated speed is equal to the real speed.
Replacing in (21) yields
(22)
From (22), a variation is obtained as
(23)
using (23) and assuming , (i.e., in the quiescent point
), is obtained as
(24)
is obtained as
(25)
Using (20), (24), and (25), the small-signal model for the
MRAS observer is obtained. The small-signal model is shown
in Fig. 3. A sketch of the root locus, including the PI controller,
is shown in Fig. 4.
With reference to (24) and Fig. 3, it is seen that the quiescent
value of is used which implies that reactive power is sup-
plied from the rotor-side converter, which must be the case for
standalone applications. In many grid-connected applications,
especially in wind generation, reactive power generation via
will be preferred since the rotor-stator turns ratio is significantly
greater than unity. If this is not the case, and , then alter-
native measures of MRAS error (e.g., rotor flux) are necessary;
such measures will be considered in a future paper.
From the control loop of Fig. 3 and the root locus of Fig. 4,
it is concluded that the bandwidth attainable with the proposed
MRAS configuration is limited only by noise considerations.
B. Speed Catching Operation of the MRAS Observer
It is desirable for a sensorless standalone DFIG to be able to
catch the rotational speed of an already spinning machine [6].
CÁRDENAS et al.: MRAS OBSERVER FOR SENSORLESS CONTROL OF STAND-ALONE DFIGs
Fig. 2. MRAS observer for the DFIM.
Fig. 3. Small-signal model of the proposed observer.
Fig. 4. Sketch of root locus for the control system of Fig. 3.
For the proposed sensorless systems, the speed catching pro-
cedure considers the DFIG operating with scalar control of the
rotor current magnitude and the stator load disconnected. The
voltage supplied to the machine rotor is demodulated using the
estimated slip frequency which is calculated from (Fig. 1)
and the speed estimated from the MRAS observer.
During the speed catching procedure, the stator frequency is
not equal to since the estimated speed differs from the real
speed. Therefore, the absolute error of the stator frequency, with
respect to the reference, can be used as an indicating parameter
for the MRAS convergence. Using coordinates for the
stator voltage and flux, the electrical frequency can be estimated
as [15]
(26)
and the absolute value of the stator frequency error is given by
(27)
A first-order lowpass filter is used to eliminate the high-fre-
quency noise in . Once the MRAS observer has esti-
mated the rotational speed correctly, the vector control of the
rotor currents and the control of the magnetizing current
are enabled. In this work, the vector-control system is enabled
when the filtered values of Hz.
The principle of speed catching described above can be ex-
tended to grid-connected systems. In this case, the generated
stator voltage vector under standalone control is adjusted until
it is synchronized with the supply voltage vector. When syn-
713
chronism is achieved, grid connection is enabled and the mode
of vector control is changed to direct stator flux orientation [16].
C. Machine Parameter Sensitivity
For the MRAS observer proposed in this paper, incorrect es-
timation of the machine inductances produces an incorrect esti-
mation of the rotor angle. This angle is used to demodulate the
rotor currents and the demanded rotor voltages. The rotor angle
estimation error can be obtained using a small-signal model. The
current model of (16) can be rewritten as
(28)
where in (28) is referred to the stationary frame. The error in
the estimation of the rotor angle can be obtained using a
model of (28)
(29)
where . A variation causes a flux variation
(30)
The phase variation for can be calculated as
(31)
that is, if the machine is operating at steady-state and a variation
is introduced in the MRAS observer parameters, then the
phase of the estimated flux will change according to (31). This
phase error is corrected by the PI controller of the MRAS
observer which drives the phase error between and to
zero. However, this introduces an offset in the estimation of
the rotor angle. Therefore, an incorrect estimation of the term
is equivalent to using a position encoder with an offset
in the measured rotor position.
For a vector-controlled standalone DFIG, the error in the es-
timation of the rotor angle produces an incorrect demodulation
of the rotor voltages, incorrect calculations of , , , and
, incorrect estimation of the machine torque, and coupling
between the current control loops.
Small deviations in the estimation of do not affect
the accuracy of the steady-state speed obtained from the MRAS
observer. This is because the error of (17) is driven to a zero
steady-state value only when both the estimated and reference
flux have the same phase and frequency. From (15) and (16), it
is easily seen that the two estimates of stator flux have the same
frequency and phase only when .
The proposed MRAS observer is mainly affected by the in-
correct estimation of . The reference flux obtained from
(15) is robust against variations in the stator resistance and the
MRAS observer is not affected by rotor resistance variations be-
cause the rotor current is a measured quantity.
IV. EXPERIMENTAL RESULTS
The control system of Fig. 1 has been implemented using a
2.5-kW DFIM driven by a dc machine. The experimental rig is
shown in Fig. 5.
714 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 20, NO. 4, DECEMBER 2005

Fig. 5. Experimental rig.

Two PWM back-to-back inverters are connected to the rotor

of the machine. The rotor-side PWM inverter is controlled using
a frequency of 1 kHz. Current transducers are used to measure
the rotor and stator currents. Two voltage transducers are used
to measure the stator voltage. A speed encoder of 10 000 pulses
per revolution is used to measure the rotational speed and rotor
angle. The speed encoder is used only for comparison purposes
and to control the dc drive machine. A microprocessor board is
used to implement the MRAS observer and the whole sensorless
vector-control system.
The dc machine can be used to emulate a wind turbine or an-
other prime mover according to the emulation technique pre-
sented in [14]. For simplicity, the paper emulates the prime
mover using a second-order lowpass filter to filter the speed step
command from the host PC (Fig. 5). The output of the filter is
the reference sent to the dc machine speed control loop which
has a natural frequency of 2 Hz; this is sufficient to perform Fig. 6. Speed catching of the MRAS observer.
the emulation considering the frequency content of most wind
profiles.
Fig. 6 shows the speed catching performance of the MRAS
observer with r/min. The top graphic shows the esti-
mated speed and the bottom shows the rotor position error. The
MRAS speed observer converges after 18 s.
Fig. 7 shows the stator frequency and magnetizing current
during speed catching. The frequency is in the top graphic and
the magnetizing current is in the bottom graphic. The MRAS
speed observer has converged in 18 s and the stator electrical
frequency is 50 Hz for . However, because in this
application, a relatively narrow lowpass filter is used, the algo-
rithm automatically enables the vector-control system at about
, when the filtered frequency error is within 0.5 Hz.
This ensures that the speed estimation is stable before enabling
the closed-loop control. The magnetizing current control loop
has a demand value of 6.5 A and a natural frequency of 2 Hz;
this is sufficient to control the flux level while operating the rotor
converter within its rated current level.
Fig. 7. Stator frequency and magnetizing current during speed catching.
Fig. 8 shows the axis rotor currents for the conditions
of Fig. 7. When the closed-loop control is enabled, the q-axis
rotor current is controlled to zero, according to (13), to ensure frequency of about 60 Hz corresponding to a step settling time
the orientation along the stator flux under no-load condition. of 10–15 ms. This is sufficient for the present research since
The axis rotor current follows the output of the magnetizing higher natural frequencies result in noisier waveforms without
current controller. The current control loops have a natural observable improvement in the performance of the system.
CÁRDENAS et al.: MRAS OBSERVER FOR SENSORLESS CONTROL OF STAND-ALONE DFIGs
Fig. 8. 0
The d q axis rotor currents.
Fig. 9. Speed tracking using the MRAS observer. Top: speed change from 600
to 1350 r/min. Bottom: speed change from 1350 to 600 r/min.
Fig. 9 shows the performance of the MRAS observer tracking
the rotational speed. For this test, speed changes from 600 to
1350 r/min (top graphic) and from 1350 to 600 r/min (bottom
graphic) in approximately 4 s. The acceleration is about 190
r/min/s. Due to the large inertia of variable speed wind turbines
[14], especially in high-power applications, this acceleration is
more than that expected for a DFIG in a WECS. For these ex-
perimental results, a fixed load of approximately 1.2 kW (about
50% of nominal load) is connected to the stator. A good tracking
of the rotational speed, with an error of less than 5 r/min, has
been achieved with an MRAS observer having a closed-loop
natural frequency of 10 Hz which is about five times faster
than the 2-Hz prime mover natural frequency.
Fig. 10 shows the estimated rotor angle and the rotor-angle es-
timation error for steady-state operation with a rotational speed
of about 600 r/min, and 1-kW load applied to the stator. Again,
715
Fig. 10. Estimated rotor angle and estimation error for 600 r/min. Top:
estimated angle. Bottom: position error.
Fig. 11. Rotational speeds for load impacts of 1.4 kW. Top: Load
disconnection. Bottom: Load connection.
the tracking performance is excellent. According to the exper-
imental results, the estimated rotor angle has a negligible error
in steady-state when the machine inductances , are cor-
rectly estimated.
Fig. 11 shows the performance of the MRAS observer when
the DFIM is rotating at 700 r/min and a load impact of 1.4 kW
(about 60% of nominal load) is connected and disconnected
from the stator. Load connection is shown in the bottom graphic
and load disconnection is shown in the top graphic. The load
impact produces a dip and an overshoot of about 100 r/min.
The tracking of the speed by the MRAS observer is very good
in both cases. Fig. 12 shows the stator voltage corresponding
to the load impacts of Fig. 11 with the vector-control system
using the estimated rotor angle obtained from the MRAS ob-
server (Figs. 1 and 2). The stator voltage is well regulated with
a small dip and overshoot produced by the load impacts. Fig. 13
shows the magnetizing and -axis currents corresponding to the
connection and disconnection of the 1.4-kW resistive load. The
magnetizing current is derived from the estimated axis
flux as depicted in Fig. 1.
The regulation of the magnetizing and -axis currents
achieved with the proposed sensorless system is good even for
this relatively large load step.
716
Fig. 12. Stator quadrature voltage for load impacts of 1.4 kW. Top: Load
disconnection. Bottom: Load connection.
Fig. 13. The i and i currents for load impacts of 1.4 kW. Top: Load
disconnection. Bottom: Load connection.
Fig. 14. Rotor current and estimated speed for synchronous operation.
Fig. 14 shows the rotational speeds and the rotor current for
steady-state operation at the synchronous velocity with 60%
of the nominal load applied to the stator. The rotor current is
a dc signal with some noise produced by the PWM switching.
Unlike previous work [3], the estimation of the rotor speed is
very good at synchronous operation because in the proposed
sensorless control system, no integration of the rotor voltage
IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 20, NO. 4, DECEMBER 2005
Fig. 15. Rotor current and rotational speeds for dynamic operation through
synchronous speed.
TABLE I
EFFECTS OF MACHINE PARAMETERS VARIATION
or current is performed. Fig. 15 shows the performance of
the sensorless control system for dynamic operation through
synchronous speed. The current control loop operates with
a good dynamic response and the sensorless control system
is tracking, with a small error, the speed obtained from the
position encoder.
The effects of incorrect estimation of the machine parameters
are shown in Table I. This table shows the error in the rotor
position angles, the rotor currents, and the estimated rotational
speeds obtained experimentally when is varied
between 7% to 13%. The speed demand is 1000 r/min and the
speed estimate has zero error in steady-state. In Table I,
is the rotor position error obtained experimentally and is
the rotor position error obtained using (31). According to the
results shown in Table I, the experimental results are in broad
agreement with the rotor position error analysis of Section III-C.
Table I also shows the rotor currents and . For a given
load and magnetizing current, when the rotor position angle is
incorrectly identified, the quadrature and direct currents change
although the total rotor current magnitude remains constant.
Incorrect estimation of the quadrature current produces an
incorrect value of electrical torque when calculated according
to (12). This may produce a low energy capture when control
of the DFIG electrical torque is used to drive a variable speed
WECS to the optimal tip-speed ratio of the wind turbine [1],
[13], [14], [16].
In addition to studying the effects of incorrect estimation of
, the performance of the MRAS observer has been exper-
imentally tested for incorrect estimation of the stator resistance
of 100% of the real value. There was no noticeable effect in
performance.
V. CONCLUSION
This paper has presented an analysis and discussion of
sensorless control of DFIM using MRAS observers. Small-
signal models have been derived for the analysis and the
CÁRDENAS et al.: MRAS OBSERVER FOR SENSORLESS CONTROL OF STAND-ALONE DFIGs
design of the MRAS observer as well as for understanding the
effects of incorrect parameter estimation in the accuracy of the
proposed MRAS observer. The proposed sensorless scheme has
been experimentally validated both in transient and steady-state
conditions. Several tests including load impacts, transient speed
tracking performance, and speed catching on the fly have been
presented showing the excellent performance of the proposed
speed-tracking scheme. Moreover, the experimental results are
in broad agreement with the small-signal models proposed in
this paper.
Although this paper has discussed the application of an
MRAS observer for a DFIG in standalone operation, the
small-signal models and the effects of parameter sensitivity can
be extended to other applications of the DFIM, such as doubly
fed induction motor drives.
APPENDIX
Parameters of the DFIM
Induction machine: stator 220 V delta, rotor 250 V star,
2.5 kW, six poles, 960 r/min, , ,
, , . External
inductances of 30 mH have been added to the rotor.
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Roberto Cárdenas (S’95–M’97) was born in
Punta Arenas, Chile. He received the Electrical
Engineering Degree from the University of Mag-
allanes, Punta Arenas, in 1988 and the M.Sc. and
Ph.D. degrees from the University of Nottingham,
Nottingham, U.K., in 1992 and 1996, respectively.
From 1989 to 1991, he was a Lecturer in the
University of Magallanes. He is currently with the
Electrical Engineering Department, University of
Magallanes. His main interests are in control of
electrical machines and variable-speed drives and
renewable energy systems.
Dr. Cardenas is a member of the Institute of Electrical and Electronic Engi-
neers.
Rubén Peña (S’95–M’97) was born in Coronel,
Chile. He received the electrical engineering degree
from the University of Concepcion, Concepcion,
Chile, in 1984 and the M.Sc. and Ph.D. degrees from
the University of Nottingham, Nottingham, U.K., in
1992 and 1996, respectively.
Currently, he is with the Electrical Engineering
Department, University of Magallanes, Punta
Arenas, Chile. From 1985 to 1991, he was a Lecturer
in the University of Magallanes. His main interests
are in control of power electronics converters, ac
drives, and renewable energy systems.
José Proboste was born in Puerto Natales, Chile,
on March 21, 1976. He received the Electrical En-
gineering degree from the University of Magallanes,
Punta Arenas, Chile, in 2004.
Currently, he is a Research Assistant in the
Electrical Engineering Department, University of
Magallanes. His main interests are the control of
power-electronics converters and ac drives.
718 IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 20, NO. 4, DECEMBER 2005
Greg Asher (M’98) received the Electrical and Elec-
tronic Engineering degree and the Ph.D. degree in
Bond Graph structures and General Dynamic Sys-
tems from Bath University, Bath, U.K., in 1976 and
1979, respectively.
He was appointed Lecturer in control with the
School of Electrical and Electronic Engineering,
University of Nottingham, Nottingham, U.K., in
1984, where he developed an interest in motor drive
systems, particularly the control of ac machines. He
was appointed Professor of electrical drives in 2000
and is currently Head of the School of Electrical and Electronic Engineering at
the University of Nottingham. He has published many research papers, received
more than $5M in research contracts, and has supervised 29 Ph.D. students.
Currently, he is Chair of the Power Electronics Technical Committee for the
Industrial Electronics Society. He was a member of the Executive Committee
of European Power Electronics (EPE) Association until 2003. He is a member
of the Institution of Electrical Engineers and is an Associate Editor of the IEEE
Industrial Electronics Society.
Jon Clare (M’90–SM’04) was born in Bristol, U.K.
He received the B.Sc. and Ph.D. degrees in electrical
engineering from The University of Bristol.
From 1984 to 1990, he was a Research Assistant
and Lecturer at The University of Bristol, involved
in teaching and research in power-electronic sys-
tems. Currently, he is with the Power Electronics,
Machines and Control Group at the University of
Nottingham, Nottingham, U.K., where he has been
since 1990. He is a Professor in power electronics
and Head of the Research Group. His research inter-
ests are power-electronic converters and modulation strategies, variable-speed
drive systems, and electromagnetic compatibility.
Prof. Clare is a member of the Institution of Electrical Engineers and is an
Associate Editor for IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS.