COMSATS Institute of Information Technology

__Islamabad__
Synopsis

for the degree of

Campus

M.S./M.Phil

Ph.D

PART-1 (to be completed by the student)

Name of Student

Ateeq Ur Rehman

Department

Electrical Engineering

Registration No.
SP14-REE-027
Name of (i) Research Supervisor
Dr. Shafayat Abrar
(ii) Co - Supervisor
Members of Supervisory Committee
1.
2.
3.
Major Field of Study
Electrical Engineering
Field of Specialization
Control System
Robust Control Design for uncertain Nonlinear Dynamic
Title of Research Proposal
System

1. Summary of Research Proposal

Induction motor is a nonlinear control system. The large induction machines have
uncertain parameters, each occurrence of uncertain parameter in model description
increases mathematical complexity of control design algorithm. In induction motor
uncertainties occur due to the change in resistance and reactance during motor operation.
These uncertain parameters vary mainly due to increase in the temperature. In this work
we aim to study different traditional and modern robust controllers for induction motor.
We will be focused on the sliding mode controller and PI/ back stepping approach for
induction motor drives robust control.

2. Introduction:
Induction motors are widely used in many residential, commercial, industrial and utility
applications. This is because the motor have low manufacturing cost, wide speed range,
high efficiency and robustness. Induction motors require much more complex methods of
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control, more expensive and higher rated power converters than DC and permanent
magnet machines. Induction motor is a nonlinear and time variant plant. Therefore, the
aim of a few researches has been to design a robust control system which guarantees the
closed-loop stability and desired performance in a robust manner and may tolerate the
uncertainties in induction motor, which are either parametric uncertainties or unstructured
uncertainty. The Uncertainty can be separated into two types. The first type is known as
dynamic structured uncertainty or real parametric uncertainty. Structured uncertainty
refers to modeling errors, under the assumption that the actual plant is of the same order
as the model, where the numerical values of the coefficient tor the differential equation,
which are related to the physical parameters of the system, between the actual plant and
the model are different. The second type of uncertainty is known as unstructured
uncertainty. In this case, the modeling errors refer to the difference in the dynamics
between the finite dimensional model and the unknown and possibly infinite dimensional
actual process. In induction motor uncertainties are categorized in two states. Firstly
Uncertainties in resistance and secondly Uncertainties in reactance.
In Induction motor uncertainties due to Stator resistance RS and rotor resistance RL will be
treated as parametric uncertainties. These resistances are vary mainly due to temperature
changes. Structured model uncertainty creation demonstrated on stator resistance RS. The
uncertainties in Induction are created due to Motor inductances changes are mostly
caused by magnetic saturation. Magnetic saturation influences magnetizing inductance
Lm. Because stator and rotor inductances LS and Lm contain magnetizing inductance Lm as
their part they are influenced with magnetic saturation as well. Each occurrence of
uncertain parameter in model description increases mathematical complexity of control
design algorithm.
Induction motor drives control has been an active research domain over the last years.
Different control techniques such as Field-Oriented control (FOC), feedback linearization
control, sliding mode control passivity approach, and adaptive control have been reported
in the literature [1]. Adaptive back-stepping is also used for speed control to compensate
the uncertainties that remains after input-output linearization.

3. Literature Work:
Induction motor (IM) drives control has been an active research domain over the last
years. Different control techniques such as Field-Oriented control (FOC), feedback
linearization control, linear parameter varying (LPV) systems, sliding mode control
passivity approach, and adaptive control. [1].
One of the widely used methods in this regard, is the theory of vector control, which
controls each of the torque and flux in a separate channel [2]. The advances in semiconductor device of power electronics and microprocessors have made a major
contribution to this method [2]. This method, which is also known as field oriented
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control (FOC), decomposes the stator current into flux and torque components, just like
DC motors control method. The FOC ensures partial decoupling of the plant model using
a suitable transformation and then PI controllers are used for tracking regulation errors.
Exact input-output feedback linearization of induction motors model can be obtained
using tools from differential geometry. This method cancels the nonlinear terms in the
plant model which fails when the physical parameters varies [3-4]. By contrast, passivitybased control does not cancel all the nonlinearities but enforce them to be passive, i.e.
dissipating energy and hence ensuring tracking regime [5-7].
The more appropriate control technique is linear parameter varying (LPV) system
controller use a linear matrix inequality (LMI) approach [8-9] and Lyapunov theory [10].
The LPV control technique can eliminate the tedious process of manually tuning control,
gain and can provide a systematic gain-scheduling method [11]. This approach shows
good robustness and high performance with respect parameter and load torque variation.
On the other hand, Sliding Mode Control (SMC) is widely applied because of its easiness
and attractive robustness properties [12]. SMC exhibits high-gain when the controlled
system is subject to large parameter variations. SMC as a branch of robust control is a
powerful technique to control nonlinear systems with uncertainty. The SMC can offer
many good properties, such as insensitivity to parameter variations, external disturbance
rejection, and fast dynamic response. These advantages of SMC have been employed in
the position and speed control of ac servo systems [13]. This however limits the
application of such control scheme. To overcome this problem, many authors have
proposed sliding mode and adaptive control combined structure. This leads to reduced
gain and robustness against matched and unmatched uncertainties [14].
Adaptive back-stepping is also used for speed control to compensate the uncertainties that
remains after input-output linearization [15]. Due to continuously developing automation
systems and more demanding small control performance requirements, conventional
control methods are not always adequate. On the other hand, practical control problems
are usually imprecise. The input output relations of the system may be uncertain and they
can be changed by unknown external disturbances. One such an approach is to utilize
fuzzy control. Fuzzy logic and neural networks are also applied to tolerate the
uncertainties. These approaches may introduce some time constraints in real time
applications. A reason for this significant role is that fuzzy computing provides a flexible
and powerful alternative to contract controllers, supervisory blocks, computing units and
compensation systems in different application areas [16]. With fuzzy sets nonlinear
control actions can be performed easily. The conventional PI controllers are the most
common algorithms used in industry to control Induction motor drives. Their
attractiveness is due to their structure simplicity and the industrial operators
acquaintance with them.
One of the sensor less control approaches most frequently applied, in conjunction
with indirect field-oriented ( IFO) control of the induction motor drive, is perhaps the
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model reference adaptive control (MRAC) [12] . In this method, two error functions,
generated from flux estimation schemes based on voltage and current models, arc used
for adaptively tuning the rotor speed. This method will be referred to as the V-I modelbased speed observer. The motor parameters, such as stator resistance, stator inductance
and rotor time constant, those vary highly during operation. The variations are mainly due
to temperature rise, magnetic saturation and skin effect.
H (H-infinity")

methods are used in control theory to synthesize controllers achieving

stabilization with guaranteed performance. To use H methods, a control designer
expresses the control problem as a mathematical optimization problem and then finds the
controller that solves this optimization. H techniques have the advantage over classical
control techniques in that they are readily applicable to problems involving multivariate
systems with cross-coupling between channels; disadvantages of H techniques include
the level of mathematical understanding needed to apply them successfully and the need
for a reasonably good model of the system to be controlled [18].

4. Statement of the Problem

Induction Motors are significantly more difficult to control than DC motors. One of the
problems which might cause unsuccessful attempts for designing a proper controller
would be the time varying nature of parameters and variables which might be changed
during motor operation. The number of internal uncertain parameters is very high. In
order to compensate the uncertainties of the stator and rotor resistances and reactance, a
robust controller will be designed and compared with traditional methods.

5. Research Methodology:
1. The purpose is to understand, study and simulate previously reported
techniques and algorithms.
2. Study the complete behavior of Induction motor and identify those
uncertain factors which deteriorate the performance of Induction motor.
3. We will implement robust techniques to combat the uncertainties in
Induction motor.
4. Implement the controller technique in MATLAB for simulation result and
verify the result.
5. Finally, writing thesis report and then finalize the research work.

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6. Bibliography:
[1] D. Casadei et al., FOC and DTC: two viable schemes for induction motors torque
control, IEEE Trans. Power Electronics, vol. 17, n5, pp. 779-787, September 2002.
[2] Wai RJ, Lin KM. Robust decoupled control of direct field-oriented induction motor
drive. IEEE Ind Electron M 2005; 52: 837-854.
[3] J. Chiasson, A new approach to dynamic feedback linearization control of an
induction motor, IEEE Trans. Automatic Control, vol. 42, n3, pp. 391-397, March 1998
[4] R. Marino et al., Adaptive input-output linearizing control of induction motors,
IEEE Tran. Automatic Control, vol. 38, n2, pp. 208-221, February 1993.
[5] G.W. Chang et al., Tuning rules for the PI gains of field-oriented controllers of
induction motors, IEEE Trans. Industrial Electronics, vol. 47, n3, pp. 592-602, June
2000.
[6] C. Cecati et al., Torque and speed regulation of induction motors using passivity
theory approach, IEEE Tran. Industrial Electronics, vol. 46, n1, pp. 23-36. February
1999.
[7] M. Comanescu et al., Decoupled current control of sensor less induction-motor
drives by Integral sliding mode, IEEE Trans. Industrial Electronics, vol. 55, n11, pp.
3836-3845, November 2008.
[8] D.I. Kim, I.J. Ha, M.S. Ko: Control of Induction Motors via Feedback Linearization
with Input-output Decoupling, International Journal of Control, Vol. 51, No. 4, 1990 pp.
863 883.
[9] P. Apkarian, P. Gahinet: A Convex Characterization of Gain-scheduled H
Controllers, IEEE Transaction on Automatic Control, Vol. 40, No. 5, May 1995, pp. 853
864
[10] H.K. Khalil: Nonlinear Systems, Prentice Hall, Englewood Cliffs, NJ, USA, 1996.
[11] B. Lu, H. Choi, D. Gregory, K. Tammi: Linear Parameter-varying Technique for
Control of a Magnetic Bearing System, Control Engineering Practice, Vol. 16, No. 10,
Oct. 2008, pp. 1161 1172.
[12] A. Derdiyok, Speed-sensorless control of induction motor using a continuous
control approach of sliding-mode and flux observer, IEEE Trans. Industrial Electronics,
vol. 52, n4, pp. 1170-1176, August 2005.
[13] S.Wade, M.W.Dunnigan, B.W.Williams, X.Yu, Position control of a vector
controlled Induction machine using slotines sliding mode control, IEE Proceeding
Electronics Power Application, Vol. 145, No.3, pp.231-238, 1998
[14] S. Hasan et al., A LuenbergerSliding mode observer for online parameter
estimation and Adaptation in high-performance induction motor drives,IEEE Trans.
Industry Applications, vol. 45, n2, pp. 772-781, March-April 2009.
[15] H. Tan et al., Adaptive back-stepping control of induction motor with
uncertainties, In Proceedings of the IEEE ACC99, San Diago (USA), vol. 1, pp. 1-5,
June 1999

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[16] Bhim Singh, B. N. Singh, and B. P. Singh, Performance Analysis of a Low Cost
Vector Controlled Induction Motor Drive: A Philosophy for Sensor Reduction, IEEE IAS
Annu. Meet. Conf. Rec., pp. 789- 794, 1997.
[17] TAMAI, S., SUGIMOTO, H., and YANO, M.: Speed Sensor less vector control of
Induction motor with model reference adaptive system. IEEE Ind. Appl. Soc. Ann. Mcct.,
lAS87, 1987, pp. 189-195.
[18] Allen Tannenbaum (1980). "Feedback stabilization of linear dynamical plants with
uncertainty in the gain factor. International Journal of Control 32 (1):116. doi :10.1080/00207178008922838.

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7. Tentative Time Table:

The steps mentioned under the heading of research methodology makeup
the work plan. The tentative times lines for the completion of this thesis are
provide in Gantt chart given below.
Jan- March

April-June

1.
2.
3.
4.
5.

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July-Sep

Oct-Dec

Name of Student Ateeq Ur Rehman

Signature and Date

PART II
Recommendation by the Research Supervisor

Name Dr. Shafayat Abrar Signature _____________ Date___________

Signed by Supervisory Committee

S. #
1

Name of Committee Member

Designation

Signature and Date

2
3

Approved by Departmental Advisory Committee

Certified that the synopsis has been seen by members of DAC and considered it suitable for
putting up to BASAR.
Secretary
Departmental Advisory Committee
Name: _______________________ ___________Signature:__________________________
Date:________________________
Chairman/HoD ____________________________________
Signature:

______________________________

Date

________________

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PART III
Dean of Respective Faculty
________________ Approved for placement before BASAR.
________________ Not Approved on the basis of following reasons

Signature ______________________________

Date ________________

Secretary BASAR
________________ Approved from BASAR.
________________ Not Approved on the basis of the following reasons

Signature ______________________________

Page 9 of 9

Date ________________