4398 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 55, NO.

12, DECEMBER 2008

A Predictive Algorithm for Controlling Speed and
Rotor Flux of Induction Motor
Eudemario Souza de Santana, Edson Bim, and Wagner Caradori do Amaral, Member, IEEE
AbstractA model-based predictive control of rotor ux and
speed of a vector-controlled induction motor (IM) is presented.
A state-space approach is employed for modeling a rotor-ux-
oriented IM. The control law is derived by optimization of an
objective function that considers the control effort and the differ-
ence between the predicted outputs (speed and rotor ux) and the
specic references, with predicted outputs calculated using a lin-
earized state-space model. The rotor ux and speed are estimated
by using an extended Kalman lter. In this model, the load inertia
is unknown, and the external load torque is considered to be a
disturbance. Its amplitude is computed with the electromechanical
equation or estimated by the Kalman lter. Simulated and experi-
mental results show the good performance of this strategy.
Index TermsField-oriented control (FOC), induction motors
(IMs), model-based predictive control (MBPC), oriented rotor
ux, predictive control.
LIST OF SYMBOLS
R Phase resistance.
L Inductance.
L

Transient inductance.
Time constant.

Transient time constant.

Total leakage factor.
Angular speed.
Flux linkage.
V Voltage.
i Current.
T Torque.
J Polar moment of inertia.
N Rotor speed in revolutions per minute.
p Number of poles or of inputs.
q Number of outputs.
Spatial position of rotor ux.
Manuscript received April 9, 2008; revised September 18, 2008. First
published October 31, 2008; current version published December 2, 2008. This
work was supported in part by the Foundation for the Support of Research in
the State of Sao Paulo (FAPESP), the Brazilian National Council for Research
(CNPq), and the CAPES.
E. S. de Santana is with the Federal Center of Technology Education,
Camaari, Bahia, Brazil (e-mail: eudemario@gmail.com).
E. Bim is with the Faculty of Electrical and Computer Engineering, State
University of Campinas, 13083-852 Campinas, So Paulo, Brazil (e-mail:
bim@dsce.fee.unicamp.br).
W. C. do Amaral is with the Department of Computer Engineering and
Industrial Automation and the Faculty of Electrical and Computer Engineering,
State University of Campinas, 13083-852 Campinas, So Paulo, Brazil (e-mail:
wagnerm@dca.fee.unicamp.br).
Color versions of one or more of the gures in this paper are available online
at http://ieeexplore.ieee.org.
Digital Object Identier 10.1109/TIE.2008.2007376
Subscripts
s, r Stator and rotor, respectively.
, Direct and quadrature axes expressed in the stationary
reference frame.
d, q Direct and quadrature axes expressed in the synchronous
reference frame.
d Discrete.
s Sampling.
l Load.
I. INTRODUCTION
T
HE ADVENT of powerful microprocessors, such as dig-
ital signal processors, has enabled the implementation of
complex techniques for the control of electric machines. One of
these techniques involves predictive control.
The model-based predictive control (MBPC) is one of these,
which has been successfully applied. There are various MBPC
algorithms, which differ only in the model used to represent
the plant, the disturbance considered, and the cost function to
be minimized. The use such algorithms presents a series of
advantages in relation to other methods [4], including the easy
implementation of the linear control law even in multivariable
cases and appropriateness for a wide variety of processes,
ranging from those with simple dynamics to more complex
ones involving long delay times and nonminimal or unstable
characteristics. The extension of such algorithms to the treat-
ment of constraints is conceptually simple and requires only a
limited knowledge of control; moreover, such algorithms are
particularly useful when future references are known.
If the system is nonlinear, the optimization cannot be solved
analytically, and the use of numerical methods will be required.
In this paper, however, analytical solutions are made feasible
by linearizing the model at each sampling period and ignoring
constraints.
Predictive algorithms have already been used since the 1980s
for controlling industrial plants, as related in [12], [24], and
[25]. In [26], an overview of commercially available predictive
control technology is provide, and in [12], the development of
a model predictive product is also reported.
In recent years, the model predictive control (MPC) land-
scape has enlarged, with an increase reported in the number of
applications in electric motor control and power electronics. In
[15], a control approach is proposed, where the direct power
control is combined with predictive selection of a voltage
vector of inverters. In [1], [19], [27], [28], and [31], predictive
strategies for current control of an inverter are related, while in
0278-0046/$25.00 2008 IEEE
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DE SANTANA et al.: PREDICTIVE ALGORITHM FOR CONTROLLING SPEED AND ROTOR FLUX OF INDUCTION MOTOR 4399
[7], [13], [14], and [30], adaptive predictive lters are proposed.
In [33], the use of low-frequency predictive current control
is proposed for a single-phase cascaded H-bridge multilevel
rectier.
Various proposals have been made for the use of predictive
algorithms to control electric motors, particularly induction
motors (IMs). The majority of these algorithms involve vector
control algorithms and independent strategies to control the
rotor ux and speed [10]. However, when IMs are fed by
voltage sources, separate strategies cannot be used because di-
rect and quadrature voltages simultaneously inuence magnetic
ux and speed. In this case, multivariable strategies must be
utilized. Predictive torque control has also been applied to a
synchronous reluctance motor [5] and permanent synchronous
machines [16], [23]. Experimental tests with a brushless dc
motor have shown that a closed-loop system presents a dynamic
response while ignoring load torque disturbance, although it
cannot ignore large inertia variations when the value of this
inertia is not considered in the model [20]. In [6], a model
reference adaptive system speed observer for high-performance
eld-oriented control (FOC) IM drives based on adaptive linear
neural networks is presented. In [34], a long-range predictive
control algorithm for the regulation of the stator current of
an IM operating at no-load conditions was proposed, and a
predictive algorithm was also used in [17] for the FOC of
an IM (rotor ux and speed control). Experimental results
have shown the robustness in relation to model mismatching
and abrupt changes in motor speed; however, it involves high
computational costs.
A nonlinear predictive optimal control strategy has also been
proposed for the control the ux and rotor position of an IM
[11]; the approach yields a reasonable performance but only
when variations in parameters are limited. In [21] and [22],
a predictive torque control, as an alternative to the classical
direct torque control (DTC) and FOC, is proposed. The main
advantages of this proposed method, with respect to DTC and
FOC, are simpler and faster algorithms. To avoid having the
torque ripple exceed the hysteresis band of the controller in
DTC, in [2], a simple torque prediction was proposed.
In this paper, a nonlinear eld-oriented state control model
for IMs has been developed; it includes system state variables
of direct and quadrature stator currents, as well as rotor ux
and speed. In the strategy proposed, rotor ux and speed are
the system outputs, whereas the direct and quadrature axes
voltage components serve as the input variables. Rotor speed
and ux and the load torque are estimated using an extended
Kalman lter (EKF), an approach which results in a cheaper
and more robust control system. The predicted outputs for the
algorithm are derived utilizing a linearized state model at each
sampling time. The load inertia is assumed to be unknown,
and the external load torque is considered to be an external
disturbance that is also estimated by using an EKF. Preliminary
simulation results of the approach were reported in [8].
This paper is organized as follows. The equations for MBPC
control and the discrete and linear models for IMs are developed
in Section II, while Section III describes the strategy adopted
for the linearized MBPC. In Section IV, a brief description
of the EKF is developed. Simulation and experimental results
using the proposed strategy tests are presented in Section V.
The conclusions are addressed in Section VI.
II. STATE-SPACE IM MODEL
AFOC based on rotor ux has been adopted for the modeling
of an IM. This approach implies the alignment of the direct axis
with the rotor ux. The model of the motor thus has four state
variables: stator current components i
sd
, i
sq
, rotor ux
rd
, and
motor speed
r
, although the latter two are considered as output
variables, while the stator voltage components u
sd
and u
sq
are
input variables. The continuous state-space model of an IM is
given by
_
x = A(x)x +Bu +
y = Cx
(1)
where x
(41)
is a state-space vector given by
x = [i
sd
i
sq

rd

r
]
T
; u
(21)
is an input vector con-
sisting of the terminal voltages, denoted by u = [V
sd
V
sq
]
T
;

(41)
is a disturbance vector, given by =
[0 0 0 (p/J
t
)T
l
]
T
, with J
t
denoting the moment of total
inertia of the coupled rotating parts; and A(x)
(44)
is the
characteristic matrix of the system, given by
A =

s
L
m
L

s
L
r

r
0

s
1

r
L
m
L

s
L
r
0
L
m

r
0
1

r
0
0
rd
0 0

with = (3/2)(p/J
t
)(L
m
/L
r
) and

s
= L

s
/R
s
as the stator
transient time constant;
r
= L
r
/R
r
as the rotor time constant;

r
= L

r
/R
r
as the rotor transient time constant; 1/

= R
s
+
R
r
(L
m
/L
r
)
2
/L

s
; L
m
as the magnetizing inductance; and
s
as the synchronous speed in electrical radians per second,
obtained from the following:

s
=
r
+
slip
=
r
+
L
m

r
i
sq

rd
(2)
in which
slip
is the slip speed. B
(42)
is the input matrix
given by
B =

1/L

s
0
0 1/L

s
0 0
0 0

.
y
(21)
is the output-matrix vector given by y =
[
rd

r
]
T
; the output matrix C
(24)
is given by
C =
_
0 0 1 0
0 0 0 1
_
. (3)
The discrete state-space model of an IM is given by
_
x
k+1
= A
d
(x)x
k
+B
d
u
k
+D(x
k
,
k
)
y
k+1
= C
d
x
k+1
(4)
where A
d
, B
d
, and C
d
represent the discrete forms of the
matrices A, B, and C, respectively, and T
s
is the sampling
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4400 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 55, NO. 12, DECEMBER 2008
period. These matrices are evaluated from a second-order series
expansion of the exponential matrix, as follows [32]:

A
d
= e
AT
s
I +AT
s
+
A
2
T
2
s
2
B
d
=

_
0
e
AT
s
Bd BT
s
+
ABT
2
s
2
C
d
= C.
(5)
Although the disturbance (load torque T
l
) is null, the
linearization of the model introduces an additional term
[D(x
k
,
k
)] into (4). This term is obtained from the following:
D(x
k
,
k
) = f( x
k
) x
k
+
k
(6)
where
k
is the discrete form of vector and x
k
refers to the
estimated states in the sampling k. The dened form of the
rotor-ux-oriented control is thus represented as
D(x
k
,
k
) =
_
0 T
s
L
m

rd
L

s
L
r
0 T
s

i
sq

rd

p
J
t
T
l
_
T
.
The linearization of matrix A
d
is obtained by using the
following:
A
dl
=
[A
d
(x
k
)x
k
]
x
k
|
x
k
(7)
resulting in the following matrix:
A
dl
=

1
T
s

T
s

s
T
s
L
m
L

s
L
r

r
0
T
s

s
1
T
s

T
s

r
L
m
L

s
L
r
T
s
L
m

rd
L

s
L
r
T
s
L
m

r
0 1
T
s

r
0
0 T
s

rd
T
s

i
sq
1

.
This procedure generates an extra term [f( x
k
) A( x
k
) x
k
],
which summed to the
k
results in D(x
k
,
k
), i.e.,
D(x
k
,
k
) = f( x
k
) A( x
k
) x
k
+
k
. (8)
III. PREDICTIVE ALGORITHM APPLIED TO CONTROLOF IM
The predictive algorithm involves a class of control tech-
niques which utilize a process model to predict future behavior,
with the control law obtained by optimizing a cost function that
considers the following: 1) the effort necessary for control and
2) the difference between the output predicted and the actual
reference value. The receding-horizon principle is used so that
the rst element of the optimal sequence is applied. In any given
plant, new measurements are made for each succeeding sample,
and the procedures are then repeated.
The main steps of the predictive control algorithm are the
prediction of output and the derivation of a predictive control
law, as described in the following.
A. Output Prediction
For the stage of output prediction, there are various MBPC
techniques. In this paper, this prediction is derived by use of (9),
with an incremental model used to reduce the steady-state error
of the process output. This model has the following augmented
state space [29]:
_
x
k+1
=

Ax
k
+

Bu
k
+

D
y
k+1
=

Cx
k+1
(9)

A =
_
A
dl
(x) B
d
0
pn
I
pp
_

B =
_
B
d
I
pp
_

D =
_
D
0
p1
_

C = [ C
d
0
qp
]
x
T
k
=[ x
T
k
u
T
k1
] (10)
where p is the number of inputs; q is the number of outputs; n
is the number of states;

A
[(n+p)(n+p)]
;

B
[(n+p)p]
;

D
[(n+p)1]
;

C
[q(n+p)]
; n
y
is the prediction horizon
output; and n
u
is the control horizon. Recursively, using the
state equation (9), it follows that at instant k + 2
x
k+2
=

A
2
x
k
+

A

Bu
k
+

Bu
k+1
+

A

D+

D (11)
y
k+2
=

Cx
k+2
. (12)
The recursion can generally be continued to give the n-step-
ahead prediction at instant k +n
x
k+n
=

A
n
x
k
+

A
n1

Bu
k
+
+

Bu
k+n1
+

A
n1

D+

D (13)
y
k+n
=

Cx
k+n
. (14)
The predicted output set system is then given by
y =H

x +H

u +H

d (15)
y
T
=[ y
k+1
y
k+2
y
k+ny
] (16)
u
T
=[ u
k
u
k+1
u
k+n1
] (17)
with the corresponding matrices dened, as follows:
y
(n
y
q)1
; predicted vector output;
x
n
y
n+p
; estimated state using Kalman lter;
u
n
u
p1
; incremental vector input;
d
[(n
y
n)1]
; predicted disturbance;
H

[(n
y
q)n]
;
H

[(n
y
q)(n
u
p)]
;
H

[(n
y
q)(n
y
n)]
.
The matrix d formed by n
y
rows of D(x
k
,
k
) and those
matrices that represent the prediction of the states of the motor
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DE SANTANA et al.: PREDICTIVE ALGORITHM FOR CONTROLLING SPEED AND ROTOR FLUX OF INDUCTION MOTOR 4401
are given by
d = [ D(x
k
,
k
) D(x
k
,
k
) ]
T
H

=[

C

A

C

A
2


C

A
n
y
]
T
H

B 0 0 0

B

C

B 0 0

A
2

B

C

B

C

B 0
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.

A
n
y
1

B

C

A
ny2

B

C

C 0 0 0

C

A

C 0 0

C

A
2

C

A

C 0
.
.
.
.
.
.
.
.
.
.
.
.
.
.
.

C

A
n
y
1

C

A
n
y
2

C

A
n
y
3


C

.
The states of the system are estimated using an EKF based on
the discrete IM model presented in (4). The proposed control
strategy was applied to the rotor-ux-oriented IM, which is
described in the synchronous reference frame. However, the
calculation of the rotor ux is based on the IM model,
considering that the ux does not depend on the system co-
ordinates and its spatial position
r
is easily calculated from
instantaneous values, i.e., from
r
and
r

r
= arctan

r

r
. (18)
These values can be determined from stator voltages and
currents, as measured by Hall sensors. Next, the rotor ux,
stator voltages, and currents given as synchronous coordinates,
i.e.,
r
, i
ds
, i
qs
, V
sd
, and V
sq
, are derived [18].
B. Control Law
The control law is obtained by the minimization of the
following cost function:
J = ( y w)
T
W
y
( y w) + u
T
W
u
u (19)
where
w
(n
y
q)1
; vector of the future output references to
be controlled;
W
y

(n
y
q)(n
y
q)
; denedpositive matrix, allowing an
emphasis on each of the controlled outputs and its
predictions;
W
u

n
u
n
u
; denedpositive matrix, usually diagonal,
which weights the control efforts of inputs.
In this cost function, it is assumed that the incremental vector
is null after horizon control, and as the model is linearized,
one can determine the minimal value algebraically. Since the
matrices H

, H

, and H

depend on estimated states, they

must be updated for each control cycle. Substituting y, from
(15) into (19), results in a quadratic cost function, dependent on
u, which gives the analytical optimal solution
u=
_
H
T
W
y
H

+W
u
_
1
H
T
W
y
(wH

xH

d). (20)
In the determination of this control law, it must be considered
that the vector , resulting from the sum of the linearized term
and the load torque, is constant for the future times of the
prediction, which results in disturbance prediction vector d.
In (9), the load torque T
l
is considered to be an external
disturbance; considering that it treated as external to the sys-
tem, it can be determined from the following, written in the
discrete form:
T
l(k)
=
3p
2
L
m
L
r
i
sq(k)

rd(k)

J
t
p

r(k+1)

r(k)
T
s
. (21)
As can be seen in this equation, the load torque estimation
depends on the value of states of i
sq
,
rd
, and the rotor speed

r
. In the situation described here, only i
sq
is measured, as

rd
and
r
are estimated by EKF. The load inertia J
t
of the
revolving parts of the drive is unknown and, thus, assumed to be
equal to the inertia of the motor. This equation for calculating
torque is appropriate unless there is an abrupt change in the
speed between two successive sampling times. The laboratory
results obtained show that this presupposition is valid if the
inertia of the load is not larger than that of the motor.
The diagram of the predictive algorithm applied to
r
and
r
in the control of an IM is shown in the Fig. 1. Observe that the
MBPC algorithm generates the incremental voltages V
sd
and
V
sq
, which are summed to provide the values for the direct
and quadrature axes voltages necessary for the determination
of the stator terminal voltages.
IV. SENSORLESS MEASUREMENT OF SPEED
AND ROTOR FLUX WITH EKF
Not all system states are measured, and an EKF can be used
to recover the missing values. Such a reduction in the number of
sensors provides a reduction in costs. This EKF is implemented
using a nonlinear model based on rotor-ux orientation, as
described in [9].
As stated in [3], the EKF is very efcient in taking into
consideration the uncertainties and nonlinearities inherent in
the model of an IM. It provides a solution that directly accounts
for perturbation noise and parameter errors in the system. The
discrete motor model used for estimation [32] is given by
x
f,k+1
=A
f
x
f,k
+B
f
u
k
+v
k
(22)
y
f,k+1
=C
f
x
f,k+1
+w
k+1
(23)
where
x
k
=[ i
s,k
i
s,k

r,k

r,k

r
]
T
y
f,k+1
=[ i
s,k+1
i
s,k+1
]
T
u
f,k
=[ V
s,k
V
s,k
]
T
B
f
=
T
s
L

s
_
1 0 0 0 0
0 1 0 0 0
_
T
C
f
=
_
1 0 0 0 0
0 1 0 0 0
_
A
f
=

1
T
s

0 T
s
L
m
L

s
L
r

r
T
s

r
L
m
L

s
L
r
0
0 1
T
s

T
s

r
L
m
L

s
L
r
T
s
L
m
L

s
L
r

r
0
T
s
L
m

r
0 1
T
s

T
s

r
0
0 T
s
L
m

r
T
s

r
1
T
s

0
0 0 0 0 1

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4402 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 55, NO. 12, DECEMBER 2008
Fig. 1. Block diagram of the proposed control system.
and v
k
and w
k+1
are white noises with zero mean and covari-
ance represented by Qand R, respectively.
The EKF includes a ltered state vector
x
f,k+1/k+1
= x
f,k+1/k
+K
k+1
[y
f,k+1
C
f
x
f,k+1/k
] (24)
a predicted state vector
x
f,k+1/k
=
k+1/k
(25)
where

k+1/k
= A
f
x
f,k/k
+B
f
u
k
(26)
a Kalman gain
K
k+1
= P
k+1/k
C
T
f
_
C
f
P
k+1/k
C
T
f
+R

1
(27)
a predicted state-covariance matrix
P
k+1/k
=

k+1
x

x= x
f,k/k
+P
k/k

T
k+1
x

x= x
f,k/k
+Q (28)
and a ltered covariance matrix
P
k+1/k+1
= [I K
k+1
C
f
]P
k+1/k
. (29)
In these expressions, the subscript k + 1/k refers to the
predicted value at the instant (k + 1), based on measurement
up to the kth instant.
V. SIMULATION AND EXPERIMENTAL RESULTS
This section presents results of some simulations and exper-
iments to illustrate the closed-loop behavior of the proposed
TABLE I
PARAMETERS OF IM
strategy. The parameters of the IM are given in Table I. A dc
generator with rotor inertia 25 times greater than that of the
IM is used as the load system. The TMS320F2812 DSP was
used for the implementation of the estimation algorithm, vari-
able conversion ( dq), speed measurement, space vector
modulation (SVM), and MBPC control. Initially, simulations
were performed as tuning tests for MBPC and EKF algorithms.
A. Tuning Tests of the Algorithms
The simulations were conducted using Simulink/Matlab soft-
ware. The state-covariance matrix Q and the disturbance co-
variance Rof the EKF algorithm were
R =0, 30518I
22
Q =

0.152 0 0 0 0
0 0.152 0 0 0
0 0 0.0457 0 0
0 0 0 0.0457 0
0 0 0 0 0.0763

.
In the predictive controller, if n
y
is increased, the output
dynamic is slower, and if the value of the elements of W
u
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DE SANTANA et al.: PREDICTIVE ALGORITHM FOR CONTROLLING SPEED AND ROTOR FLUX OF INDUCTION MOTOR 4403
Fig. 2. Speed with trapezoidal prole and load torque proportional to the
square of speed, with EKF estimating the rotor ux and motor speed.
Fig. 3. Speed response to rated torque disturbance, with an EKF estimating
the rotor ux and motor speed.
are increased, the control effort is reduced. With this in mind,
the following tuning parameters were obtained by simulation:
n
u
= 1, W
y
= I
44
, and
W
u
=
_
0.15 0
0 1
_
=
_
W
u/V
sd
0
0 W
u/V
sq
_
where W
u/V
sd
and W
u/V
sq
are the values weighting the input
control efforts V
sd
and V
sq
, respectively. These parameters
were chosen on the basis of the closed-loop performance and
computational effort of the algorithm. In the simulations, the
sampling time was 6 ms.
The rst simulation utilized a 600 r/min trapezoidal speed
reference. The load torque was proportional to the square of
the motor speed, which reached its rated value (12.3 N m)
when the speed was 600 r/min. Fig. 2 shows that the predictive
controller provided an accurate tracking of motor speed. Next,
the performance of the strategy was evaluated when speed refer-
ence and load torque underwent a sudden change. An additional
load with total inertia equal to double that of the motor was
added to the system after 100 ms, as shown in Fig. 3. There was
a 15% reduction in speed as soon as the motor was loaded, and
the system reached its reference after approximately 130 ms.
Fig. 4. Speed reversal with trapezoidal prole and load torque proportional to
the square of speed, with an EKF estimating the load torque, the rotor ux and
motor speed.
Fig. 5. Speed response to rated torque disturbance, with an EKF estimating
the load torque, the rotor ux, and motor speed.
Information about load input would have enhanced the closed-
loop performance.
Other simulations are shown in Figs. 4 and 5. These were
developed when the load torque was estimated using an EKF.
The results show that the controller presents a performance
equivalent to that shown in Figs. 2 and 3, although with an
increase in the computational effort. This is the reason for the
estimation speed and rotor ux in experimental tests.
B. Experimental Results
A 3-hp squirrel cage IM was used for laboratory-scale test-
ing; its specications are given in Table I. A 5-hp dc generator
was mechanically coupled to the IM and used to represent
the load. The power control was implemented with a power
electronic converter comprised of insulated-gate bipolar tran-
sistor (IGBT) switches and governed by a DSP board. The
sampling times of voltage and current measures, as well as the
switching time of the inverter, were equal to 300 s. Although
the switching frequency is approximately 10 kHz in the control
of the speed of relatively low-power motors, that of 3.3 kHz
was chosen here because it prolonged the period of time for
calculation of the states via EKF and the running of the SVM
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4404 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 55, NO. 12, DECEMBER 2008
algorithm in a single interruption, consequently diminishing the
computational efforts and complexity of the system.
In the DSP programming, two interruptions were used, as
described in the following.
1) The rst was used for the measurement of the instan-
taneous stator voltages and currents. By using a known
formula, these control signals were converted to sta-
tionary coordinates, and from these, the EKF estimated
the uxes
r
and
r
and the speed
r
. Next, these
values were converted to dq coordinates for insertion in
the MBPC algorithm. The control signals V
sd
and V
sq
were then translated into the new control signals V
s
and
V
s
, which were employed in the SVM algorithm; this
algorithm generated the command signals for the IGBT
gates. The process was repeated for each sampling time.
2) The second interruption was used for the measurement
of speed, with the resultant value used to evaluate the
performance of the EKF. Next, the MBPC algorithm
was applied, yielding, as output signals, the incremental
voltages V
sd
and V
sq
. These values were added to
the former values V
sd
and V
sq
, respectively. These values
were stored in the memory to be employed in the conver-
sion of dq to voltages, thus achieving the SVM. Every
6 ms, the control algorithm generated a new control law
and applied it to the stator terminals. For each cycle of the
control algorithm, 20 estimations of ux and speed were
made; however, only the last value was used.
The experimental results show peaks in the waveform of
voltages and currents. These are due to the noise of the power
inverter, which affects not only the nal voltage signals but also
the pulses of the encoder. The results were not, however, ltered
by software to eliminate the high frequencies and to clean up the
graphs.
The following experimental tests were run.
1) Speed Change With Reversal: Fig. 6(a)(c) shows the
speed reversal response for three proles: rectangular, triangu-
lar, and trapezoidal. The experimental response accompanied
the reference prole. Fig. 6(b) also showed the (top trace) stator
q-axis current. As was to be expected, the inversion of speed
corresponded to the inversion of i
sq
.
The speed reversal under no-load conditions at 150 r/min
was performed to illustrate the behavior of the motor at low
speeds (Fig. 7). The response of speed is also seen to follow the
reference prole. However, steady- and transient-state behav-
iors give these results because the voltage signal is proportional
to the speed; hence, the rate of noise/signal increases when the
speed diminishes.
2) Speed Change Without Reversal: Fig. 8(a) and (b) shows,
respectively, the estimated and the measured speed without re-
versal for rectangular and trapezoidal proles. Again, Fig. 8(a)
and (b) is seen to be in accordance with the reference proles.
3) Rotor-Flux Change Under No-Load Conditions: Fig. 9
shows the estimated and actual and speed and rotor ux under
no-load conditions. The top trace shows the reference rotor ux,
whereas the middle trace represents the estimated value. The
bottom trace corresponds to the estimated speed for a reference
Fig. 6. Speed reversal with no-load motor, showing measured (N
m
), es-
timated (

N
m
), and target (N

m
) values. (a) Response of speed to abrupt
change in reference speed, 450 r/min. (b) Triangular prole, 450 r/min.
(c) Trapezoidal prole, 600 r/min.
value of 450 r/min. The estimated ux is seen to accompany the
actual prole reference, despite changes in the rotor ux.
4) Load Test: Tuning of the predictive controller was under-
taken by simulation, adopting a load inertia of 2J
m
, although in
the experimental tests, the load was a dc generator with rotor
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DE SANTANA et al.: PREDICTIVE ALGORITHM FOR CONTROLLING SPEED AND ROTOR FLUX OF INDUCTION MOTOR 4405
Fig. 7. Reversal with low speeds, 150150 r/min and vice versa in 120 ms.
Fig. 8. No-reversing speed change with no-load motor. (a) Response of the
speed to abrupt changes in reference, from 0 to 300 r/min. (b) Trapezoidal
variation from 0 to 450 r/min.
Fig. 9. Rotor-ux decrease from 100% to 50% of rated value in 300 ms, with
no-load motor.
Fig. 10. Response to load of 10.36 N m. (Top trace) Estimated speed.
(Middle trace) i
sd
. (Bottom trace) i
sq
.
inertia 27.61 times greater than J
m
. The preliminary tuning
resulted in a low performance when the load underwent marked
changes. Further tuning was required, with the corresponding
matrices given as
W
u
=I
22
W
y
=

0.5 0 0 0
0 10 0 0
0 0 0.5 0
0 0 0 10

.
The response to a load of 10.36 N m is shown in Fig. 10,
with the motor operating at 600 r/min under nominal ux and
under no-load conditions. The bottom and middle traces show
the two currents i
sd
and i
sq
, respectively. Both current signals
behave as expected, with i
sd
not varying (rotor ux is constant)
and i
sq
increasing to account for the load torque. The speed
response in the top trace of Fig. 10 still shows a steady-state
error of 3%.
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4406 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 55, NO. 12, DECEMBER 2008
VI. CONCLUSION
This paper has shown the experimental application of a
multivariable predictive controller using a model based on the
predictive control of an IM under oriented rotor ux. The states
of the speed and rotor ux were estimated by an EKF. The load
torque was considered to be a disturbance, and its value was
calculated from the electromechanical equation of the motor. In
the MBPC algorithm, the value for load inertia was unknown.
The results have shown that, with a multivariable approach, it
is possible to control the rotor ux and speed of the motor by
the direct manipulation of stator voltages, without the need for
current controllers. The experimental results have shown the
effectiveness of the system in changing the target speed and
rotor ux. Furthermore, the computational efforts required are
compatible with real-time applications.
Various additional issues will be addressed in the future,
including closed-loop stability, robustness of the controller, and
reduction of the sampling time. Terminal restrictions will be
included in the cost function to assure closed-loop stability,
and a robust predictive control sequence will be derived by
solving a minmax problem which is subject to the model
constraints.
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Eudemario Souza de Santana received the B.S.
degree in electrical engineering from the Federal
University of Bahia, Salvador, Bahia, Brazil, in 2000,
and the M.S. and Ph.D. degrees from the State Uni-
versity of Campinas, Campinas, So Paulo, Brazil, in
2002 and 2006, respectively.
Since 2008, he has been a Researcher with the
Federal Center of Technology Education, Camaari,
Bahia. His current research interest includes
ac drives.
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DE SANTANA et al.: PREDICTIVE ALGORITHM FOR CONTROLLING SPEED AND ROTOR FLUX OF INDUCTION MOTOR 4407
Edson Bim received the B.S., M.S., and Ph.D.
degrees, in electrical engineering from the State
University of Campinas (UNICAMP), Campinas,
So Paulo, Brazil, in 1976, 1981, and 1993,
respectively.
He is currently an Associate Professor with the
Faculty of Electrical and Computer Engineering,
UNICAMP. His research interests include ac drives
and doubly fed induction generator.
Wagner Caradori do Amaral (M75) was born in
Campinas, So Paulo, Brazil, on March 25, 1952.
He received the B.S., M.S., and Ph.D. degrees in
electrical engineering from the State University of
Campinas (UNICAMP), Campinas, in 1974, 1976,
and 1981, respectively.
Since 1991, he has been a Full Professor with the
Department of Computer Engineering and Industrial
Automation, UNICAMP, where he was the Director
of the Faculty of Electrical and Computer Engi-
neering, from 1995 to 1999. His research interests
include the areas of modeling, identication, and predictive control.
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