International Journal of Power Electronics and Drive Systems (IJPEDS)

Vol. 12, No. 4, December 2021, pp. 2006~2017

ISSN: 2088-8694, DOI: 10.11591/ijpeds.v12.i4.pp2006-2017  2006

Speed control in DC and AC drives

Reinel Beltrán Aguedo1, Ania Lussón Cervantes2, José Ricardo Nuñez Alvarez3, Yolanda Llosas
Albuerne4
1,2Unidade Acadêmica do Cabo de Santo Agostinho (UACSA), Universidade Federal Rural de Pernambuco (UFRPE),
Cabo de Santo Agostihno, Pernambuco, Brazil
3Energy Department, Universidad de la Costa (CUC), Barranquilla, Colombia
4Electrical Engineering Department, Universidad Técnica de Manabí (UTM), Portoviejo, Ecuador

Article Info ABSTRACT

Article history: Three speed-control strategies for DC and AC drives are presented in this
study: a proportional integral derivative (PID) control strategy; an internal
Received May 22, 2021 model control (IMC); and a state-space control by pole assignment with full
Revised Sep 7, 2021 state observer (ESSO). The three strategies are applied to a case study,
Accepted Sep 14, 2021 demonstrating the potential of each one. Experimental identification was
used to obtain the drive models used for the synthesis of the controllers. The
three strategies showed satisfactory results when compared with the
Keywords: requirements imposed on the system, in addition to the good rejection of
disturbances. However, the IMC strategy showed itself to be a little softer
DC and AC drives and with no maximum overshoot, which in some cases and some applications
Motor control is usually a restriction.
Pole placement
State observer
State space This is an open access article under the CC BY-SA license.

Corresponding Author:
José Ricardo Nuñez Alvarez
Energy Department
Universidad de la Costa (CUC)
Calle 58 # 55 - 66, CP 080002. Barranquilla, Atlántico, Colombia
Email: [email protected]

1. INTRODUCTION
The development of science and technology has also increased the quality, efficiency, and
productivity of industrial services and processes. Modern industry has a wide variety of mechanisms that
require speed control at different points in the production process. These mechanisms are a fundamental
requirement for rotating electrical machines, basically direct current (DC) and alternating current (AC)
motors. The DC motor offers facilities for speed control, which can be activated, for example, through the
insertion of resistors in the armature, and through the variation of armature voltage or current in the field.
These motors, despite their limitations in use, have enjoyed total hegemony in the industrial field for decades
[1]. On the one hand, the cost of the AC motor is one-sixth of that of a DC motor of the same power and
requires less maintenance. On the other, the motor provides no speed control facilities, which were at first
achieved through the Ward Leonard system, given the impossibility of implementing a variable speed drive
from an electrical system of constant voltage and frequencies; especially if the driver must be of high
reliability and efficiency, have a wide range of speeds and moderate initial costs. For all those reasons, the
DC motor has virtually been unrivaled for some years [2], [3].
Variable frequency converters have been introduced with the development of semiconductor
devices, improving the technical characteristics of this type of drive to the point where it is superior to its
nearest rivals because it permits high-precision, efficient, and quality speed regulation [4]-[6]. Thus, in recent

Journal homepage: http://ijpeds.iaescore.com

Int J Pow Elec & Dri Syst ISSN: 2088-8694  2007

years a wide variety of control techniques have been developed and applied, such as, for example, direct
torque control (DTC) and field-oriented control (FOC), which have dominated the market for decades [7]-[9].
The proportional integral derivative (PID) controller has also been widely used in speed regulation, in
combination with other techniques, such as fuzzy logic, neural networks, predictive control, and adaptive
control, for proper tuning of such drivers [10]-[14]. Other more modern speed control techniques have also
been applied, such as, for example, internal model control (IMC), control by pole assignment, model-based
predictive control (MPC), and the use of state observers, among others [15]-[18].
The present work is based on the application of some control techniques in the speed control of DC
and AC drives. Firstly, some theoretical aspects of PID control strategies, internal model control (IMC), and
control by pole assignment are discussed in a general way. Since the objective of the control system is
normally to ensure that the output follows a reference with zero error, it is, therefore, a type 1 follower
system; finally, a complete order observer is considered in conjunction with the type 1 follower system. All
the control strategies for speed control are simulated using Matlab and the results are validated in an
experimental facility, including both the DC and the AC drive types.

2. RESEARCH METHOD
2.1. PID control strategy
The PID controller is the most popular and widely used in the industry, because of its low cost,
simplicity, and the good dynamic behavior of the controlled process when properly tuned. It is estimated that
about 95% of the control meshes use the PID and the proportional-integral (PI) [19], [20], which in its ideal
form (ISA algorithm) is represented by (1).

𝑈(𝑠) 1
𝐺𝑐 (𝑠) = = 𝐾𝑝 (1 + + 𝑇𝑑 𝑠) (1)
𝐸(𝑠) 𝑇𝑖 𝑠

Where s is the Laplace complex variable, U(s) the control signal, E(s) the acting error, and KP, Ti, and Td
represent the proportional gain, the integrative, and the derivative time, respectively
Tuning a controller is a matter of determining the best combination of parameters (KP, Ti, Td) so that
the system will respond as desired. Among the various tuning methods, for example, are those based on the
transient response, such as Ziegler-Nichols and Cohen-Coon, those based on comprehensive criteria, such as
IAE and ITAE, and other methods based on computational and intelligent optimization techniques, such as
genetic algorithms and fuzzy logic [21]-[23]. Such methods will not always guarantee acceptable
determination of the parameters; however, they serve as a starting point for finer parametrical adjustments to
satisfy the design conditions.

2.2. IMC control strategy

The internal model control (IMC) strategy considers the process model as part of the controller. The
project is based on the cancellation of poles and zeros because the structure of the controller contains the
inverse of the process model [24]-[26]. Figure 1 shows the typical block diagram of the IMC strategy.

Figure 1. IMC control scheme [4]

Typically, the IMC controller design is done in two steps using the model factoring method.
Step 1 - Nominal behavior: The model is decomposed according to expression (2).

𝐺𝑚 (𝑠) = 𝐺𝑚+ (𝑠) 𝐺𝑚− (𝑠) (2)

Where Gm+(s) is the non-invertible portion, containing the zeros to the right of the complex half-plane, the
unit gain and eventually the time delay, and Gm-(s) is the invertible portion, containing the stable terms of the
model. Thus, the ideal controller is the inverse of the invertible part of the model.
Speed control in DC and AC drives (Reinel Beltrán Aguedo)
2008  ISSN: 2088-8694

Step 2 - Performance and robust stability: A low-pass filter is added to the ideal controller to generate a
proper transfer function, strictly speaking, and to ensure that the controller is physically feasible. In addition,
unwanted high-frequency behavior is avoided, and measurement noise is eliminated. The IMC controller is
represented in (3).
1 1
𝐺𝑐 (𝑠) = (3)
𝐺𝑚− (𝑠) (𝑇𝑓 𝑠+1)𝑛

Where n is the order of the filter and must be chosen in such a way as to guarantee that the controller is its
own, which is usually equal to the order of the process whenever the problems of changes in the reference are
addressed, and Tf is the filter setting constant, which varies the response speed of the closed-loop system.

2.3. Control strategy by pole placement

The design of state feedback controllers assumes that all state variables are measurable and available
for input feedback through a matrix of gains, K, with constant coefficients; see Figure 2. This feedback
means that the poles may be in a closed loop in the desired position, as long as the system is in a completely
controllable state [26].

Figure 2. State feedback control scheme [27]

From the Figure 2 you get:

𝑊(𝑠)
= 𝐶(𝑠) [𝑠𝐼 − 𝐴(𝑠) + 𝐵(𝑠)𝐾]−1 𝐵(𝑠) (4)
𝑊𝑟 (𝑠)

Where K = [k1, k2, , kn].

The closed-loop poles can be located by appropriate adjustment of the elements of the matrix K. If the
desired location of the closed-loop poles is p1,pn, then the characteristic equation of the system given in (4) is:

|𝑠𝐼 − 𝐴(𝑠) + 𝐵(𝑠)𝐾| = (𝑠 − 𝑝1 ) … (𝑠 − 𝑝𝑛 ) = 0 (5)

K may be determined from the equality given in (5).

2.4. Type 1 follower system

In many practical applications, the output of the control system must follow the desired reference
and electric drives are a typical case of such systems. If the process is of type 0, then it will for example be
unable to follow a step type reference with a null error. Thus, it is convenient to use a type 1 follower system
so that the system can follow the reference with zero error. Figure 3 shows the basic principle of this type of
system in which an integrator block is inserted in the direct path between the error comparator and the
process [27].

Figure 3. Type 1 follower system [27]

Int J Pow Elec & Dri Syst, Vol. 12, No. 4, December 2021 : 2006 – 2017
Int J Pow Elec & Dri Syst ISSN: 2088-8694  2009

For this configuration, (6) is considered.

𝑒̇ (𝑡) = 𝐴̂𝑒(𝑡) + 𝐵̂ 𝑢𝑒 (𝑡) (6)

𝐴 0 ̂ 𝐵 𝑥(𝑡) −𝑥(∞)
Where 𝐴̂ = [ ], 𝐵 = [ ], and e(t)=[ ] is the error vector of order (n + 1), and ue(t)=u(t)
−𝐶 0 0 𝜉(𝑡) −𝜉(∞)
- u() is the new control vector, given by (7).

̂ 𝑒(𝑡)
𝑢𝑒 (𝑡) = − 𝐾 (7)

̂ = [𝐾 − 𝐾𝑖 ]
where 𝐾

The objective of this system is to guarantee an asymptotically stable system using an acceptable
determination of 𝐾̂ . If the system is in a completely controllable state, then it is possible to determine such a
matrix using the pole assignment approach.

2.5. Follower system type 1 with state observer

In practice, it is not common to have all the state variables available for feedback, so it is necessary
to estimate them from the measurement of others (state observer). If all state variables are estimated, see
Figure 4, then it is a complete order observer [27]. In (8) defines the observer's model.

𝑥̃(𝑡) = 𝐴𝑥̃(𝑡) − 𝐵𝑢(𝑡) + 𝐾𝑒 [𝑊(𝑡) − 𝐶𝑥̃(𝑡)] (8)

Where Ke is the observer's earnings matrix, and the estimate of x(t) is the vector of states

Figure 4. Type 1 follower system with state observer [27]

Starting from (8) we can arrive at (9), which defines the observer's error.

𝑒̇ (𝑡) = (𝐴 − 𝐾𝑒 𝐶)𝑒(𝑡) (9)

where 𝑒̇ (𝑡) = 𝑥(𝑡) − 𝑥̃(𝑡)

If the system is completely observable, then it will be possible to determine Ke so that (A-KeC) has arbitrarily
desired eigenvalues, in such a way that the dynamic behavior of the error is asymptotically stable and
sufficiently fast. Ke may be determined in the same way as for K in the assignment of poles.

3. RESULTS AND DISCUSSION

Next, the control strategies are synthesized, simulated, and experimentally validated in an
experimental installation, including the two types of drives, DC and AC.

3.1. Description of the experimental facility

Figure 5 shows a block diagram of the experimental installation, which has a DC drive, consisting of
a DC motor (5) of 10V / 1.5A and a maximum speed of 2500 rpm, a tachometer (6), model E5-600-5BZ-CV-
2.5, coupled to the motor, and a power amplifier (4), to feed the DC motor and to give the speed command.
There is likewise an AC drive, with an AC motor (8), three-phase induction, 80W/220V, and a maximum
speed of 2460 rpm, with a frequency range of 3 to 60 Hz and a variable speed drive AF502-A40 (7), which is
compliant with the constant V/f relationship. The entire installation is controlled from a computer (1) and a

Speed control in DC and AC drives (Reinel Beltrán Aguedo)

2010  ISSN: 2088-8694

SAD PCL818 (2) was used, internal to the computer, which has a maximum data transfer rate of 100 kHz.
The input-output connections are made through the external module PCLD8115 (3). All signals are in a range
from 0 to 10V and data transfer is done by the program.

Figure 5. Experimental installation

3.2. Models of DC and AC drives

For the synthesis of the control strategies, the drives were modeled experimentally, applying a 10 V
step as input, and as output, the speed was measured every 0.5 seconds. The input-output data were fed into
the Matlab Identification Toolbox and the models for the DC and AC drives were obtained, given in (10) and
(11), respectively. Figures 6 (a) and 6 (b) show the experimentally obtained responses and the responses from
the model for both drives with an approximation of more than 96%.
250
𝐺𝐷𝐶 (𝑠) = (10)
0.24𝑠+1

246.057
𝐺𝐴𝐶 (𝑠) = (11)
0.125𝑠 2 +0.8273𝑠+1

(a) (b)

Figure 6. Model and process response: (a) DC drive, (b) AC drive

3.3. PI control strategy for the DC drive

The model given in (10) is a first-order model without delay, so a PI controller is sufficient to satisfy
the design requirements. Its tuning, performed in Matlab, yielded the following:
1
𝐺𝑃𝐼𝐷𝐶 (𝑠) = 0.0003435 (1 + ) (12)
0.0244𝑠

Int J Pow Elec & Dri Syst, Vol. 12, No. 4, December 2021 : 2006 – 2017
Int J Pow Elec & Dri Syst ISSN: 2088-8694  2011

The response presented a maximum overshoot (MP) of 10% and settling time (ts) of approximately 1.52 seconds.

3.4. IMC control strategy for DC drive

Considering the model given in (10), the IMC controller for the DC drive is:
0.004(0.24𝑠+1)
𝐺𝐼𝑀𝐶_𝐷𝐶 (𝑠) = (13)
(0.4𝑠+1)

For which a first-order filter with an adjustment constant of 0.4 seconds was chosen.

3.5. ESSO control strategy for the DC drive

Expressing the model of the DC drive given in (10) in a representation in state variables, we have:

𝑥̇ = [−4.16]𝑥 + [1041.66]𝑢 (14)

𝑦 = [1]𝑥 + [0]𝑢

where x is the state, and the output, and u the control signal.

3.6. Follower system type 1

Examining the MCD controllability matrix.
−4.16 1041.66
𝑀𝐶𝐷 = [ ] (15)
−1 0
The range of MCD is 2 and its determinant anything other than zero when the system is in a completely
controllable state. Assuming MP=10% and a peak time (tp) of 1 second, the desired characteristic is given by
(16).

𝑆 2 + 4.6080 𝑠 ∗ 15.1632 = 0 (16)

The closed-loop characteristic is:

|𝑠𝐼 − 𝐴̂ + 𝐵̂ 𝐾
̂ | = 𝑠 2 + (4.16 + 1041.66𝑘𝑖 )𝑠 + 1041.66𝑘𝑖 (17)

Comparing (17) with (16), we can see that:

̂ = [4.2797 10−4
𝐾 0.0146 (18)

which ensures that the system is asymptotically stable.

3.7. Full order status observer

Examining the OCD observability matrix:

𝑂𝐶𝐷 = [𝐶 ´ 𝐶 ´ 𝐴´ 𝐶 ´ 𝐴´𝑛−1 ] = [1] (19)

Since the range of OCD is equal to 1, the system is fully observable, choosing the desired from the observer as:

𝑠+5 =0 (20)

The observer's characteristic is:

|𝑠𝐼 − 𝐴 + 𝑘𝑒 𝐶| = 𝑠 + 4.16 + 𝑘𝑒 = 0 (21)

Comparing (21) with (22), we can see that ke = 0.84.

3.8. Simulation of the control strategies for the DC drive

Figure 7 shows the performance of the three control strategies. First, a speed of 1200 rpm is
assumed, at 4 seconds the reference is changed to a speed of 2300 rpm, and at 8 seconds a disturbance in the
speed of 100 rpm is simulated.

Speed control in DC and AC drives (Reinel Beltrán Aguedo)

2012  ISSN: 2088-8694

Figure 7. Control strategies in the DC drive

3.9. PID control strategy for AC drive

As the AC drive model is second order, a PID controller was used, and Matlab was also used for its
tuning, resulting in the following controller:

1
𝐺𝑃𝐼𝐷_𝐴𝐶 = 0.008 (1 + + 0.01576𝑠) (22)
5.5609𝑠

The response presents an MP  10% and a ts  1.6 seconds.

3.10. IMC control strategy for the AC Drive

Considering (11), the IMC controller is given by:

0.125𝑠 2 +0.8273𝑠+1
𝐺𝐼𝑀𝐶_𝐴𝐶 (𝑠) = 0.0041 ( ) (23)
(0.2𝑠+1)2

A second-order filter was chosen with an adjustment constant of 0.2 seconds

3.11. ESSO control strategy for the AC drive

A state-space representation of (11) is:

−6.6184 −8
𝑥̇ = [ ] 𝑥 + [10] 𝑢
1 0

𝑦 = [0 1968.5] 𝑥 (24)

Where the state vector x = [x1 x2] T

3.12. Type 1 follower system

Examining the MCA controllability matrix:

−6.6184 −8 1
𝑀𝐶𝐴 = [ 1 0 0] (25)
0 −1968.5 0

The range of MCA is 3 and its determinant differs from zero. Assuming MP = 10% and tp = 1 second, the dominant
closed-loop poles are p1,2 = -2.3029 ± j3.1400. Choosing a third pole p3 = -20, the desired characteristic was:

𝑠 3 + 24.6052𝑠 2 + 107.2755𝑠 + 303.43 = 0 (26)

The closed-loop characteristic equation was:

𝑠 3 + (6.6184 + 𝑘1 )𝑠 2 + (𝑘2 + 8)𝑠 − 19668.5𝑘𝑖 = 0 (27)

Int J Pow Elec & Dri Syst, Vol. 12, No. 4, December 2021 : 2006 – 2017
Int J Pow Elec & Dri Syst ISSN: 2088-8694  2013

Comparing (27) with (26), it follows that:

𝐾̂ = [17.9868 99.2755 0.1541] (28)

Which thereby ensures that the system is asymptotically stable.

3.13. Full order status observer

Examining the OCA observability matrix:

0 1968.5
𝑂𝐶𝐴 = [ ] (29)
1968.5 0

The range of OCA is 2 and the nonzero determinant. Choosing the observer poles at s1,2 = -5, the desired
characteristic is:

𝑠 2 + 10𝑠 + 25 = 0 (30)

On the other hand, the characteristic equation of the observer is:

𝑠 2 + (6.6184 + 1968.5𝑘𝑒2 )𝑠 + (8 + 1968.5𝑘𝑒1 + 13028𝑘𝑒2 ) = 0 (31)

Comparing (31) with (30),

3.14. Simulation of control strategies for the AC drive

Figure 8 shows the performance of the three control strategies. First, a steady-state speed of 1200
rpm was assumed, at 4 seconds the reference was changed to 2300 rpm, and at 8 seconds a disturbance in the
speed of 100 rpm was simulated.
As can be seen in Figure 9, the responses of the controlled system are satisfactory, in the PID and
ESSO strategies the response was underdamped as designed, with ts  1.6 s. In the IMC strategy, the response
showed no overshoot, was softer and therefore less aggressive, with a very similar ts to the PID and ESSO.
When the system was disturbed, the three strategies satisfactorily performed rejection and the BMI did so
more smoothly and with no tendency towards oscillation.

Figure 8. Control strategies in the AC drive

4. VALIDATION AND DISCUSSION OF RESULTS

A graphical interface for the validation was developed in LabWindows 6.5, allowing the selection of
the drive and the control strategy, among other options, in Figure 9 and Figure 10. First, a reference speed of
1200 rpm was proposed, and then it was changed to 2300 rpm. Figure 11 (a), Figure 11 (b), and Figure 11 (c)
show the performance of the system controlled with the PI, IMC, and ESSO strategies, respectively, for the
DC drive. Finally, Figure 12 (a), Figure 12 (b), and Figure 12 (c) show the performance of the control system
using the PID, IMC, and ESSO strategies, respectively, for the AC drive.

Speed control in DC and AC drives (Reinel Beltrán Aguedo)

2014  ISSN: 2088-8694

Figure 9. PID configuration panel for the DC drive

Figure 10. ESSO configuration panel for the AC drive

In all cases the results can be classified as satisfactory and in accordance with expectations. In the
experiments carried out, the PI and PID control strategies showed better results at high speeds, since at low
speeds the system started to oscillate, due to the mechanical characteristics of the experimental station, in
which non-linearities and background noise can have more influence on the speed measurements of the
control system.
The IMC control, moreover, has a broader speed control range in both electric drives, with values
between 10 and 2500 rpm. For example, if we compare it with the PID variant, IMC showed a faster transient
response and somewhat shorter settling times. However, it has been found that this control strategy
sometimes tended to offer maximum overshoots during start-up when speeds below 500 rpm were taken as
the starting point.
The ESSO control strategy offered a lower speed control range on both drives, around 500 to 2500
rpm, in addition to a transient response with settling times that depended on the location of the desired
closed-loop poles and the speed of the state observer. Moreover, this strategy tended to offer maximum
overshoots during start-up by the above. Finally, it can be said that in both drives the responses were
satisfactory, with small differences between the simulated and practical responses, which can be explained by
non-molded dynamics and the non-linearities present in the physical system under investigation.

Int J Pow Elec & Dri Syst, Vol. 12, No. 4, December 2021 : 2006 – 2017
Int J Pow Elec & Dri Syst ISSN: 2088-8694  2015

(a) (b)

(c)

Figure 11. Controlled system performance using implemented strategies: (a) PI control strategy in the DC
drive, (b) IMC control strategy in the DC drive, (c) ESSO control strategy in the DC drive

(a) (b)

(c)

Figure 12. Control strategy: (a) PID control strategy in the AC drive, (b) IMC control strategy in the AC
drive, (c) ESSO control strategy in AC drive

Speed control in DC and AC drives (Reinel Beltrán Aguedo)

2016  ISSN: 2088-8694

5. CONCLUSIONS
Three control strategies for DC and AC drives have been synthesized. The drives have been
modeled via experimental identification, where a first-order model was obtained for the DC drive and a
second-order model for the AC drive, both without time delay. A graphical interface was developed in
LabWindows 6.5 for the experimental validation, with which it was possible to configure all the
instrumentation, choose the drive and the speed control strategy that was implemented, and it was also
possible to set indicators for the speed and limits of alarms for the protection of the drive against possible
overloads, low line voltage, short circuits, and locked rotors, for example. The drive, in addition to being
protected by a security code and alarms, has an emergency stop button in case of tampering.
In general, it can be said that the response of the experimental system coincided with the simulated
one. Moreover, the PI and PID control strategies presented better results for high speeds. The IMC control
permitted a greater range of speed control on both electric drives, in addition to the less aggressive controller
action. The ESSO strategy offered a lower speed control range on both electric drives and the transient
response depended on the location of the desired closed-loop poles and the speed of the state observer.

REFERENCES
[1] R. A. Hasanjani, S. Javadi, and R. S. Nadooshan, “DC motor speed control by self-tuning fuzzy PID algorithm,”
Trans. of the Institute of Measurement and Control, vol. 37, no. 2, pp. 164-176, 2015. doi:
10.1177/0142331214535619.
[2] S. N. Mahsahirun, N. R. Nik Idris, Z. M. Yusof, and T. Sutikno, “Fundamental elements of constant volt/hertz
induction motor drives based on dSPACE DS1104 controller,” International Journal of Power Electronics and
Drive Systems IJPEDS, vol. 11, no. 4, pp. 1670-1685, 2020, doi: 10.11591/ijpeds.v11.i4.pp1670-1685.
[3] F. J. M. Álvarez, J. L. Blanco, J. L. T. Moreno, and A. G. Fernandez, “Modeling and multivariable control of the
urban electric vehicle UAL-eCARM,” Revista Iberoamericana de Automatica e Informatica Industrial, vol. 17, no.
2, pp 144-155, 2020, doi: 10.4995/riai.2019.12679.
[4] E. Guerrero, J. Linares, E. Guzman, H. Sira, G. Guerrero and A. Martinez, “DC motor speed control through
parallel DC/DC buck converters,” IEEE Latin America Transactions, vol. 15, no. 5, pp. 819-826, May 2017, doi:
10.1109/TLA.2017.7910194.
[5] S. Durand, B. Boisseau, N. Marchand, J. and J. F. G. Castellanos, “Event-based PID Control: application to a mini
quadrotor helicopter,” Journal of Control Engineering and Applied Informatics, vol. 20, no. 1, pp. 36-47, 2018.
[6] I. Inoan, and M. Abrudean, “Control of an induction motor using the relay method approach,” Control Engineering
and Applied Informatic, vol. 16, no. 3, pp. 13-22, 2014.
[7] A. Beltran, J. Rambo, H. Azcaray, K. Santiago, M. Calixto, and E. Sarmiento, “Simulation and control of the
velocity and electromagnetic torque of a three-phase induction motor: An electric vehicles approach,” Revista
Iberoamericana de Automatica e Informatica Industrial, vol. 19, no. 3, pp. 308-320, 2019.
[8] N. E. Ouanjli et al., “Modern improvement techniques of direct torque control for induction motor drives-A
review,” Protection and Control of Modern Power Systems,” vol. 4, no. 1, pp. 1-12, 2019, doi: 10.1186/s41601-
019-0125-5.
[9] O. S. Bhatti, M. Rizwan, P. S. Shiokolas, and B. Ali, “Genetically optimized ANFIS-based PID controller design
for posture-stabilization of self-balancing-robots under depleting battery conditions,” Control Engineering and
Applied Informatics, vol. 21, no. 4, pp. 22-33, 2019.
[10] Q Wu, X Li, M Zhang, L Pang, and J Li, “Fast parameter identification of permanent magnet synchronous motor
for electric vehicles,” Control Engineering and Applied Informatics CEAI, vol. 21, no 4, pp. 24-42, 2019.
[11] H. S. Sridhar, P. Hemanth, Pavitra, H. V. Soumya, and B. G. Joshi, “Speed control of BLDC motor using soft
computing technique,” International Conference on Smart Electronics and Communication ICOSEC, 2020, pp.
1162-1168, doi: 10.1109/ICOSEC49089.2020.9215417.
[12] V. S. Sousa, J. J. C. Eras, A. S. Gutierrez, and M. J. C. Ulloa, “Assessment of the energy efficiency estimation
methods on induction motors considering real-time monitoring,” Measurement, vol. 136, pp. 237-247, 2019, doi:
10.1016/j.measurement.2018.12.080.
[13] V. Felipe et al., “Permanent magnet assisted synchronous reluctance motors: A new advance in electric motors
development,” Ingeniería, investigación y tecnología, vol. 19, no. 3, pp. 267-277, 2018, doi:
10.22201/fi.25940732e.2018.19n3.023.
[14] J. R. Nuñez et al., “Design of a fuzzy controller for a hybrid generation system,” IOP Conference Series: Materials
Science and Engineering, vol. 844, no. 012017, pp. 1-20, 2020, doi: 10.1088/1757-899X/844/1/012017.
[15] N. Farah, M. H. N. Talib, Z. Ibrahim, J. M. Lazi, and M. Azri, “Self-tuning fuzzy logic controller based on Takagi-
Sugeno applied to induction motor drives,” International Journal of Power Electronics and Drive Systems IJPEDS,
vol. 9, no. 4, pp. 1967-1675, 2018, doi: 10.11591/ijpeds.v9.i4.pp1967-1975.
[16] N. N. Baharudin, and S. M. Ayob, “Brushless DC motor drive control using single input fuzzy PI controller
(SIFPIC),” IEEE Conference on Energy Conversion CENCON, 2015, pp. 13-18, doi:
10.1109/CENCON.2015.7409506.
[17] J. Talla, V. Q. Leu, V. Šmídl, and Z. Peroutka, “Adaptive speed control of induction motor drive with inaccurate
model,” IEEE Transactions on Industrial Electronics, vol. 65, no. 11, pp. 8532-8542, 2018, doi:
10.1109/TIE.2018.2811362.

Int J Pow Elec & Dri Syst, Vol. 12, No. 4, December 2021 : 2006 – 2017
Int J Pow Elec & Dri Syst ISSN: 2088-8694  2017

[18] M. R. Devi, and L. Premalatha, “Soft computing technique of bridgeless SEPIC converter for PMBLDC motor
drive,” International Journal of Power Electronics and Drive Systems IJPEDS, vol. 9, no. 4, pp. 1503-1509, 2018,
doi: 10.11591/ijpeds.v9.i4.pp1503-1509.
[19] K. J. Aström, and T. Hägglund, PID controllers, Book 2nd edition, The International Society for Measurement and
Control: Instrument Society of America, 1995.
[20] K. J. Aström, and T. Hägglund, Advanced PID control, Book 488, Publishing Pearson Education, 2009.
[21] K. Aseem, and S. S. Kumer, “Closed loop control of DC-DC converters using PID and FOPID controllers,”
International Journal of Power Electronics and Drive Systems, vol. 11, no. 3, pp. 1323-1332, 2020, doi:
10.11591/ijpeds.v11.i3.pp1323-1332.
[22] O. Bashir, X. Rui, L. K. Abbas, and J. Z. Zhang, “Ride comfort enhancement of semi-active vehicle suspension
based on SMC with PID sliding surface parameters tuning using PSO,” Control Eng. and Applied Informatics, vol.
21, no. 3, pp. 51-62, 2019.
[23] A. A. S. León, and J. R. N. Alvarez, “1D convolutional neural network for detecting ventricular heartbeats,” IEEE
Latin America Transactions, vol. 17, no. 12, pp. 1970-1977, 2019, doi: 10.1109/TLA.2019.9011541.
[24] M. A. Ibrahim, A. K. Mahmood, and N. S. Sultan, “Optimal PID controller of a brushless dc motor using genetic
algorithm,” International Journal of Power Electronics and Drive Systems IJPEDS, vol. 10, no. 2, pp. 822-830,
2019, doi: 10.11591/ijpeds.v10.i2.822-830.
[25] A. Abdallah, A. Bouchetta, O. Boughazi, A. Baghdadi, and L. K. Bousserhane, “Double star induction machine
using nonlinear integral backstepping control,” International Journal of Power Electronics and Drive Systems
IJPEDS, vol. 10, no. 1, pp. 27-40, 2019, doi: 10.11591/ijpeds.v10.i1.pp27-40.
[26] J. Nuñez, I. F. Benítez Pina, A. Rodríguez Martínez, S. Díaz Pérez, and D. Luiz de Oliveira, “Tools for the
implementation of a SCADA system in a desalination process,” IEEE Latin America Transactions, vol. 17, no. 11,
pp. 1858-1864, 2019, doi: 10.1109/TLA.2019.8986424.
[27] K. Ogata, Modern control engineering, Fifth Edition, Publisher Prentice Hall US, 2010.

BIOGRAPHIES OF AUTHORS

Reinel Beltrán Aguedo. He has a degree in Automatic Control Engineering from the
Universidad de Oriente, Cuba (1994), a PhD in Systems Control from the Universidad Nacional
del Sur, Argentina (2003). He is currently an adjunct professor at the Engineering Campus
(UACSA) of the Federal Rural University of Pernambuco (UFRPE), Pernambuco, Brazil. E-mail
[email protected]; Scopus ID 6507608633; ORCID 0000-0001-8803-2397; Google
Scholar 99YdxZQAAAAJ; ID Publons S-7981-2017.

Ania Lussón Cervantes. She has a degree in Automatic Control Engineering from the
Universidad de Oriente, Cuba (1994), a PhD in Systems Control from the Universidad Nacional
del Sur, Argentina (2002). She is currently an adjunct professor at the Engineering Campus
(UACSA) of the Federal Rural University of Pernambuco (UFRPE), Brazil. E-mail
[email protected]; Scopus ID 57191920359; ORCID: 0000-0002-5428-8973; Google
Scholar 5GbGBKkAAAAJ; ID Publons AAU-8338-2021.

José Ricardo Núñez Álvarez. Full Time Professor at the Department of Energy at the
Universidad de la Costa (CUC), Barranquilla, Colombia. He obtained the title of Electrical
Engineer in 1994. Master of Science in Electrical Engineering in 2003 and Master of Science in
Automation in 2014. E-mail [email protected]; Scopus ID 57222123252; ORCID 0000-
0002-6607-7305; Google Scholar M5TXcO4AAAAJ; ID Publons B-8716-2019.

Yolanda Llosas Albuerne. Full-time principal professor in the Department of Electricity of the
Technical University of Manabí (UTM), Portoviejo Ecuador. She graduated from Electrical
Engineering in Automatic Control in 1979 at the Universidad de Oriente, Cuba, she defended the
doctorate in Technical Sciences in 1992. E-mail: [email protected]; Scopus ID
56469714000; ORCID: 0000-0002-5713-0565; Google Scholar AP1MR9sAAAAJ.

Speed control in DC and AC drives (Reinel Beltrán Aguedo)