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Updated: Feb 26, 2026

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
Published on: October 14, 2017
Real time PI-backstepping induction machine drive with efficiency optimization
Fethi Farhani1, Chiheb Ben Regaya1, Abderrahmen Zaafouri1
1Industrial Systems Engineering and Renewable Energies Research Laboratory (LISIER), Higher National Engineering School of Tunis (ENSIT), University of Tunis, 5 Av. Taha Hussein, BP 56, 1008 Tunis, Tunisia.
Abstract:
This paper describes a robust and efficient speed control of a three phase induction machine (IM) subjected to load disturbances. First, a Multiple-Input Multiple-Output (MIMO) PI-Backstepping controller is proposed for a robust and highly accurate tracking of the mechanical speed and rotor flux. Asymptotic stability of the control scheme is proven by Lyapunov Stability Theory. Second, an active online optimization algorithm is used to optimize the efficiency of the drive system. The efficiency improvement approach consists of adjusting the rotor flux with respect to the load torque in order to minimize total losses in the IM. A dSPACE DS1104 R&D board is used to implement the proposed solution. The experimental results released on 3kW squirrel cage IM, show that the reference speed as well as the rotor flux are rapidly achieved with a fast transient response and without overshoot. A good load disturbances rejection response and IM parameters variation are fairly handled. The improvement of drive system efficiency reaches up to 180% at light load.
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