International Journal of Power Electronics and Drive Systems (IJPEDS)

Vol. 14, No. 1, March 2023, pp. 199~208

ISSN: 2088-8694, DOI: 10.11591/ijpeds.v14.i1.pp199-208  199

Permanent magnet synchronous motor control performed using

PI-backstepping with a model of harmonics reduction

Said Ziani1,2, Mohamed El Ghmary 3,4, Youssef Agrebi Zorgani5,6

1
Laboratory of Networks, Computer Science, Telecommunication, Multimedia (RITM), Department of Electrical Engineering,
High School of Technology ESTC, Hassan II University, Casablanca, Morocco
2
Department of Health Technologies Engineering, Research Group in Biomedical Engineering and Pharmaceutical Sciences,
ENSAM, Mohammed V University, Agdal, Morocco
3
Departement of computer science, Research Computer Sciences Laboratory (LRI), Intelligent Processing and Security of Systems
(IPSS) Team, Faculty of Sciences, Mohammed V University, Rabat, Morocco
4
Departement of Computer Science, Faculty of Science, Dhar El Mahraz, Sidi Mohamed Ben Abdellah University, Fez, Morocco
5
Laboratory of Sciences and Techniques of Automatic Control and Computer Engineering (Lab-STA),
National School of Engineering of Sfax, Sfax,Tunisia
6
High Institute of Technological Studies of Sfax, Sfax, Tunisia

Article Info ABSTRACT

Article history: This paper focuses on the control of permanent magnet synchronous motors
(PMSMs) utilizing a non-linear adaptive PI-Backstepping design and a model
Received Dec 17, 2021 of harmonics reduction approach that uses an active shunt filter followed by a
Revised Dec 4, 2022 cascade bandpass filter. While conventional backstepping may assure the
Accepted Dec 17, 2022 system's stability, it is often imprecise. It creates a significant amount of static
error, which has a detrimental effect on the system's behavior, such as
disruptions and loads that might arise in industrial settings. We can assure
Keywords: minimum fixed errors and considerable interaction with uncertainty by
integrating the PI controller with adaptive backstepping through robust
Backstepping Lyapunov functions. Numerical simulations are used to demonstrate the
Control proposed controller's effectiveness.
Disturbances
Lyapunov
Stability This is an open access article under the CC BY-SA license.

Corresponding Author:
Said Ziani
Laboratory of Networks, Computer Science, Telecommunication, Multimedia (RITM)
Department of Electrical Engineering, High School of Technology ESTC, Hassan II University
Casablanca, Morocco
Email: [email protected]

1. INTRODUCTION
The synchronous motor is generally used in three-phase power; it is reversible, that is, it can operate
either as a generator or a motor. Most of the time, permanent magnet synchronous motors work the same way
and perform the same way as regular synchronous motors. When a three-phase voltage source powers the
stator, a rotating field is created in the air gap, rotating at a constant speed of = w/p revolutions per second,
where w is the frequency of the stator power source and p is the number of pole pairs [1]. Due to their lack of
rotor losses, resilience, and high specific power, synchronous machines with permanent magnets are
increasingly used in speed variation. In contrast to the ease of connecting the thyristors in series, these machines
may be provided with current inverters (based on thyristors) at extremely high power, and energy [2], [3]. In
the literature, the permanent magnetic synchronous motor (PMSM) is controlled by a current switch (current
control) and a voltage inverter, two different power supplies. Various control systems have different ways of
changing the settings of the regulators in response to changes in the process being controlled. The methods that

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200  ISSN: 2088-8694

came out of this are two simple adaptive techniques that have been widely used in practice. We were interested
in building a modern control that utilized the backstepping idea in conjunction with integral proportional
correction. The first section discusses the model of PMSM, specifically the mathematical model offered by a
model of harmonics reduction strategy that employs an active shunt filter in conjunction with a cascade
bandpass filter. Then, as a state representation, we determine the model of the PMSM and three-phase voltage
inverter assembly [4]–[6]. The backstepping control of the PMSM [7]–[9] given by an inverter is determined.
This section details the determination of current and speed regulators and examines the system's stability using
Lyapunov's theory. The simulation results validate this sequence and demonstrate its performance and
robustness to machine parameter fluctuations.

2. RESEARCH METHOD
The model of the synchronous motor PMSM and the research methodologies are discussed in this
section. Simultaneously, the approximations for simplification are supplied [10].

2.1. Model
The PMSM model in the reference frame (d-q) is shown as follows:
𝑑𝑖𝑑 𝑅𝑠 𝐿𝑞 𝑣𝑑
=− 𝑖 +𝑝 𝛺𝑖𝑞 +
𝑑𝑡 𝐿𝑑 𝑑 𝐿𝑑 𝐿𝑑
𝑑𝑖𝑞 𝑅𝑠 𝐿𝑑 𝛺𝜑𝑓 𝑣𝑞
=− 𝑖 −𝑝 𝛺𝑖𝑑 − 𝑝 + (1)
𝑑𝑡 𝐿𝑞 𝑞 𝐿𝑞 𝐿𝑞 𝐿𝑞
𝑑𝛺 𝑝 𝑓 𝑃 𝐶𝑟
{ 𝑑𝑡 = 𝐽 (𝐿𝑑 − 𝐿𝑞 )𝑖𝑑 𝑖𝑞 − 𝐽 𝛺 + 𝐽 𝜑𝑓 𝑖𝑞 − 𝐽

where: 𝑅𝑠 : Stator resistance (Ω), 𝐿𝑑 , 𝐿𝑞 : d,q axis self-inductance (H), 𝜑𝑓 : Mutual flux due to permanent
magnetic (Wb), 𝑖𝑑 , 𝑖𝑞 : d,q axis currents (A), 𝛺 Angle speed (rad/s), 𝐽: Moment of inertia (kg.m2), 𝑓: damping
constant (N/rad/s), 𝑝: Number of pole pairs, 𝐶𝑟 : load torque (N.m).
As a result of the cross-coupling between the electrical current and speed state equations, the equations
above indicate that PMSM is a highly nonlinear system. It should be noted that all characteristics fluctuate with
operating circumstances, most notably the torque disturbance caused by the applied load, the temperature, and
the saturation effects. Thus, if high-performance speed control of PMSM is required, the controller design must
account for all nonlinearities, parameter uncertainties, and unknown external disturbances [11].

2.2. Backstepping control design

The primary control goal is to create an asymptotically stable speed tracking controller for PMSM
that can accurately monitor the reference trajectory in the presence of all parameter uncertainties and
perturbations and an unknown bounded load torque disturbance variation. This aim may be accomplished by
designing the speed-tracking controller independent of all PMSM and load torque disturbance characteristics.
So, it needs an adaptive online estimate of all parameters and disturbances from the outside. Adaptive
backstepping tries to find a virtual control state and force it to act as a stabilizing function. This technique
creates an error variable in the appropriate format [12]. Consequently, the error variable may be stabilized
using the Lyapunov stability theory [13]–[16]. The overall control design can be made by following these three
steps in order:
− Step 1: Define the reference speed as Ω∗ and Ω∗ as continuous second order derivatives. Moreover, the
speed tracking error can be defined as:
𝑡 𝜕𝛺
𝑧𝛺 = 𝛺 ∗ − 𝛺 + 𝑘𝛺 ′ ∫0 (𝛺 ∗ − 𝛺)𝑑𝑡 + 𝜀 (2)
𝜕𝑡

Where:

𝜀→ 0
𝜖∈]0.1[

𝑡
So: 𝑧𝛺 = 𝑒𝛺 + 𝑧𝛺 ′ . Where: 𝑒𝛺 = 𝛺 ∗ − 𝛺 𝑎𝑛𝑑: 𝑧𝛺 ′ = 𝑘𝛺 ′ ∫0 (𝛺∗ − 𝛺)𝑑𝑡 is the integral action added to the
backstepping order to ensure convergence-tracking error towards zero despite uncertainties of type piecewise
constant at each step of the algorithm. So, by using model (1), we find:
𝑝 𝑓
(𝐿𝑑 − 𝐿𝑞 )𝑖𝑑 𝑖𝑞 − 𝛺 +
𝐽 𝐽
𝑧̇𝛺 = 𝛺̇ ∗ − 𝛺̇ + 𝑘𝛺 ′ (𝛺 ∗ − 𝛺) = 𝛺̇∗ [ 𝑃 𝐶𝑟 ] + 𝑘𝛺 ′ (𝛺 ∗ − 𝛺) (3)
𝜑𝑓 𝑖𝑞 −
𝐽 𝐽

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Int J Pow Elec & Dri Syst ISSN: 2088-8694  201

Consider the first Lypanov function as:

1
𝑉𝛺 = 𝑧𝛺2
2
and the derivative of 𝑉𝛺 𝑖𝑠 ∶

𝑉𝛺̇ = 𝑧𝛺 𝑧̇𝛺 = −𝐾𝛺 𝑧𝛺2

Then:
𝑃 𝑓 𝐶𝑟
𝑧̇𝛺 = −𝐾𝛺 𝑧𝛺 = 𝛺̇ ∗ − 𝑖𝑞,𝑟𝑒𝑓 [(𝐿𝑑 − 𝐿𝑞 )𝑖𝑑 + 𝜑𝑓 ] + 𝛺 + + 𝑘𝛺 ′ (𝛺 ∗ − 𝛺) (4)
𝐽 𝐽 𝐽

Finally, the virtual control 𝑖𝑞,𝑟𝑒𝑓 is given by the following equation:

𝐽 𝐶 𝑓
𝑖𝑞,𝑟𝑒𝑓 = [𝛺̇ ∗ + 𝑟 + 𝛺 + 𝐾𝛺 𝑧𝛺 + 𝑘𝛺 ′ (𝛺 ∗ − 𝛺)] (5)
𝑝((𝐿𝑑 −𝐿𝑞 )+𝜑𝑓 ) 𝐽 𝐽

− Step 2: The 𝑖𝑞 current tracking error can be defined to develop their dynamic:

𝑧𝑞 = 𝑖𝑞,𝑟𝑒𝑓 − 𝑖𝑞 + 𝑧𝑞 ′

So: 𝑧𝑞 = 𝑒𝑞 + 𝑧𝑞 ′ . Where:
𝑡 𝜕𝛺
𝑧𝑞 ′ = 𝑘𝑞 ′ ∫0 (𝑖𝑞,𝑟𝑒𝑓 − 𝑖𝑞 )𝑑𝑡 + 𝜀′ (6)
𝜕𝑡

where:

𝜀′ → 0 and: 𝑒𝑞 = 𝑖𝑞,𝑟𝑒𝑓 − 𝑖𝑞
𝜖∈]0,1[

so:

̇ − 𝑖𝑞̇ + 𝑘𝑞 ′ (𝑖𝑞,𝑟𝑒𝑓 − 𝑖𝑞 )
𝑧̇𝑞 = 𝑖𝑞,𝑟𝑒𝑓

Define the second Lypanov function as:

1 1 2
𝑉𝑞 = 𝑉𝛺 + 𝑧𝑞2 + 𝑧𝑞′
2 2

Then by using model (1), we find,

̇ − 𝑖𝑞̇ + 𝑘𝑞 ′ (𝑖𝑞,𝑟𝑒𝑓 − 𝑖𝑞 )] + 𝑧𝑞 ′ 𝑧̇𝑞 ′

𝑉𝑞̇ = −𝐾𝛺 𝑧𝛺2 + 𝑧𝑞 [𝑖𝑞,𝑟𝑒𝑓

Thus

̇ − 𝑖𝑞̇ + 𝑘𝑞 ′ (𝑖𝑞,𝑟𝑒𝑓 − 𝑖𝑞 )] + 𝑧𝑞 ′ 𝑘𝑞 ′ (𝑖𝑞,𝑟𝑒𝑓 − 𝑖𝑞 )

𝑉𝑞 = −𝐾𝛺 𝑧𝛺2 + 𝑧𝑞 [𝑖𝑞,𝑟𝑒𝑓

So, we get:

𝑅𝑠 𝑝𝛺 𝜑𝑓 𝑣𝑞,𝑟𝑒𝑓
𝑉𝑞 = −𝐾𝛺 𝑧𝛺2 + 𝑧𝑞 [𝑖𝑞,𝑟𝑒𝑓
̇ + 𝑖 + (𝐿 𝑖 + ) − + 𝑘𝑞 ′ (𝑖𝑞,𝑟𝑒𝑓 − 𝑖𝑞 )] + 𝑧𝑞 ′ 𝑘𝑞 ′ (𝑖𝑞,𝑟𝑒𝑓 − 𝑖𝑞 )
𝐿𝑞 𝑞 𝐿𝑞 𝑑 𝑑 𝐿𝑞 𝐿𝑞

We choose the control law to have:

2
𝑉𝑞̇ = −𝐾𝛺 𝑧𝛺2 − 𝑘𝑞 ′ 𝑧𝑞′ − (𝐾𝑞 −𝑘𝑞 ′ ) 𝑧𝑞2 ≤ 0 (7)

Where: (𝐾𝑞 −𝑘𝑞 ′ ) ≥ 0

Then:

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𝑅𝑠 𝑝𝛺 𝜑𝑓 𝑣𝑞,𝑟𝑒𝑓
𝑉𝑞̇ = −𝐾𝛺 𝑧𝛺2 + 𝑧𝑞 [𝑖𝑞,𝑟𝑒𝑓
̇ + 𝑖 + (𝐿 𝑖 + ) − + 𝑘𝑞 ′ (𝑖𝑞,𝑟𝑒𝑓 − 𝑖𝑞 )] + 𝑧𝑞 (𝑧𝑞 − 𝑧𝑞 ′ )𝑘𝑞 ′
𝐿𝑞 𝑞 𝐿𝑞 𝑑 𝑑 𝐿𝑞 𝐿𝑞
𝑅𝑠 𝑝𝛺 𝜑𝑓 𝑣𝑞,𝑟𝑒𝑓
+ 𝑧𝑞 ′ 𝑘𝑞 ′ (𝑧𝑞 − 𝑧𝑞 ′ )−𝐾𝑞 𝑧𝑞 = 𝑖𝑞,𝑟𝑒𝑓
̇ + 𝑖𝑞 + (𝐿 𝑖 + ) −
𝐿𝑞 𝐿𝑞 𝑑 𝑑 𝐿𝑞 𝐿𝑞

Where:
𝑅𝑠 𝑝𝛺
𝑣𝑞,𝑟𝑒𝑓 = 𝐿𝑞 [𝐾𝑞 𝑧𝑞 + 𝑖𝑞,𝑟𝑒𝑓
̇ + 𝑖 + (𝐿𝑑 𝑖𝑑 + 𝜑𝑓 )] (8)
𝐿𝑞 𝑞 𝐿𝑞

− Step 3: The 𝑖𝑑 current tracking error can be defined to develop their dynamic:
𝑡
𝑧𝑑 = 𝑖𝑑,𝑟𝑒𝑓 − 𝑖𝑑 + 𝑘𝑑 ′ ∫0 (𝑖𝑑,𝑟𝑒𝑓 − 𝑖𝑑 )𝑑𝑡 (9)

So:

𝑧𝑑 = 𝑒𝑑 + 𝑧𝑑 ′

Where:
𝑡
𝑧𝑑 ′ = 𝑘𝑑 ′ ∫0 (𝑖𝑑,𝑟𝑒𝑓 − 𝑖𝑑 )𝑑𝑡

and

𝑒𝑑 = 𝑖𝑑,𝑟𝑒𝑓 − 𝑖𝑑

Define the third Lypanov function as:

1 2 1 ′2
𝑉𝑑 = 𝑧 + 𝑧
2 𝑑 2 𝑑
Then:

𝑉𝑑̇ = 𝑧𝑑 𝑧̇𝑑 + 𝑧𝑑 ′ 𝑧̇𝑑 ′ = 𝑧𝑑 [𝑖𝑑̇ + 𝑘𝑑 ′ (−𝑖𝑑 )] + 𝑧𝑑 ′ (−𝑘𝑑 ′ 𝑖𝑑 )

and by choosing:

𝑖𝑑,𝑟𝑒𝑓 = 0

We find:
𝑡
𝑧𝑑 = −𝑖𝑑 + 𝑘𝑑 ′ ∫0 (−𝑖𝑑 )𝑑𝑡 ➔ 𝑧𝑑 − 𝑧𝑑 ′ = −𝑖𝑑 ➔ 𝑖𝑑 = 𝑧𝑑 ′ − 𝑧𝑑

So, we get:

𝑅 𝐿 𝑣
𝑉𝑑̇ = −𝑖𝑑̇ 𝑧𝑑 − 𝑧𝑑 𝑘𝑑 ′ 𝑖𝑑 − 𝑘𝑑 ′ 𝑧𝑑 ′ 𝑖𝑑 = −𝑧𝑑 (− 𝑠 𝑖𝑑 + 𝑝 𝑞 𝛺𝑖𝑞 + 𝑑,𝑟𝑒𝑓) + 𝛼 (10)
𝐿𝑑 𝐿𝑑 𝐿𝑑

where:
2
𝛼 = −𝑘𝑑 ′ 𝑖𝑑 ( 𝑧𝑑 + 𝑧𝑑 ′ ) = 𝑘𝑑 ′ ( 𝑧𝑑 + 𝑧𝑑 ′ )( 𝑧𝑑 − 𝑧𝑑 ′ ) = 𝑘𝑑 ′ (𝑧𝑑2 − 𝑧𝑑′ )

By using model (1) we find:

𝑅 𝐿 𝑣
𝑉𝑑̇ = −𝑧𝑑 (− 𝑠 𝑖𝑑 + 𝑝 𝑞 𝛺𝑖𝑞 + 𝑑,𝑟𝑒𝑓) + 𝑘𝑑 ′ ( 𝑧𝑑 + 𝑧𝑑 ′ )( 𝑧𝑑 − 𝑧𝑑 ′ )
𝐿𝑑 𝐿𝑑 𝐿𝑑

So, by choosing:
2
𝑉̇𝑑 = −(𝐾𝑑 − 𝑘𝑑 ′ )𝑧𝑑2 − 𝑘𝑑 ′ 𝑧𝑑′

We get:

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Int J Pow Elec & Dri Syst ISSN: 2088-8694  203

𝑅𝑠 𝐿𝑞 𝑣𝑑,𝑟𝑒𝑓
𝑘𝑑 ′ 𝑧𝑑2 = 𝑧𝑑 [− 𝑖 +𝑝 𝛺𝑖𝑞 + ] (11)
𝐿𝑑 𝑑 𝐿𝑑 𝐿𝑑

and finally:

𝑅𝑠 𝐿𝑞
𝑣𝑑,𝑟𝑒𝑓 = 𝐿𝑑 [𝐾𝑑 𝑧𝑑 + 𝑖 −𝑝 𝛺𝑖𝑞 ] (12)
𝐿𝑑 𝑑 𝐿𝑑

2.3. Model of harmonic reduction

Electrical machines can overheat when non-sinusoidal voltages are used. As long as the harmonic
distortion doesn’t go over the legal limit of 5%, motors run smoothly. They frequently encounter difficulties
with overheating when they exceed this limit. Harmonic voltages or currents increase the stator and rotor
winding losses. The losses caused by eddy currents and the skin effect are much less critical than those caused
by the stator and rotor conductors [17]. For a machine driven by an inverter, the harmonic load losses were
typically spread out as follows: 14.2% in the stator windings, 41.2% in the rotor bars, 18.8% in the end region,
and 25.8% in the oblique flow. In practice, the harmonics to combat are those with odd ranks and low
frequencies, particularly rows 3, 5, 7, 11, and 13. In the presence of harmonics, disruption of the speed or
torque characteristics might result in machine malfunction. In Figure 1, we show how we want to connect
cascading plug circuits to the PVM inverter in parallel with the network-tuning frequency needed for the motor
to work.

Figure 1. Harmonic filtering

3. RESULTS AND DISCUSSION

In this section, it is explained the results of the research and at the same time is given the
comprehensive discussion.

3.1. Simulation of the control

The ratings and nominal parameters of the PMSM used in the simulations are given in Table 1. To
validate the correctness and advantages of the proposed control strategies, and due to the lack of sufficient
hardware in our laboratory to implement this complex control, the designed system is implemented using the
MATLAB/Simulink package with SimPower Toolbox. In the simulation, the behavior of each method and its
performances during the steady and transient states are analyzed to verify the effectiveness of the proposed
backstepping control. Table 1 shows the gain values of the command used. The gains are adjusted according
to the dynamics desired in a closed loop.

Table1. The nominal parameters and gain values

Parameter Value Parameter Value
Kd 800 P 3
𝑘𝑞 800 Rs 0.2486 [ ]
Kw 800 Ld 0.0023 [H]
Kdd 16 Lq 0.0028 [H]
Kqq 8 φf 0.19572 [Web ]
Kww 10 J 0.005942 [N. mS2 /rad]
𝑘𝑑 ′ Kdd f 0.01124
𝑘𝑞 ′ Kqq
′
𝑘𝜔 Kww

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3.1.1. Reference speed and load torque

The following figures illustrate the findings of the command by backstepping with integral action
applied at the PMSM. The results are obtained with a perturbation due to the nominal load torque as shown in
Figure 2(a) and amplitude of 5N.m. The objective is to control the closed-loop system's operation by first
varying the rotational speed reference from 300 rad/s to 200 rad/s to 100 rad/s then to a final value equal to the
rated speed: 50 rad/s as shown in Figure 2(b).

(a)

(b)

Figure 2. The command integral applied at the PMSM (a) load torque and (b) references speed

3.1.2. Simulation results

To demonstrate the command's efficiency and performance, we show simulation results in the
following figures. The curves demonstrate the control's robustness in terms of load torque, resistance (100 per
cent), and inductance (100 per cent) variation, as well as its efficiency when all parameters are varied. When
all parameters are varied, the speed as shown in Figures 3(a) and 3(b) and Figures 4(a) and 4(b) converges
towards its reference and the decoupling of the currents is maintained. The behaviour of electromagnetic torque
is depicted as shown in Figures 5 (a) and (b).

3.2. Discussion of results

As noted in section 2.2, it is critical to ensure that the time derivative of the Lyapunov function
candidate is negative semi-definite to maintain the asymptotic stability of the entire control system. The total

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Int J Pow Elec & Dri Syst ISSN: 2088-8694  205

control system's asymptotic stability is then ensured. The simulation findings indicate that this essentiality is
guaranteed in both circumstances. The proposed control's performance was evaluated using simulations for the
classic adjustment of a PMSM supplied by a two-level voltage inverter, with a PI regulator facing a reference
speed ranging from 100 to 300 (rad / s), followed by the application of a resistive torque of 5 (Nm) at a period
of [1.27s], between t = 0.22 (s) and 1.449 (s) (s). We denote a diligent pursuit of reference speed. The simulation
results demonstrate that the decoupling is maintained regardless of the load variation. Since the inverter
generates fluctuations that the cascaded bandpass filters reduce, they are not felt strongly at the torque level.
After the transitory regime expires, the current Id value reverts to zero. The rate of change is rapid, with very
little overshot and no static inaccuracy. A 0.06-second optimal rising time also provides for speedy disturbance
rejection (s). They also have a substantial impact on the estimate of several other factors. Parameter
uncertainties/perturbations and load torque disturbance fluctuations are shown graphically in Figure 3.

(a)

(b)

Figure 3. Response speed (a) for Kww=16; Kqq=8; Kdd=10 and (b) for Kww=1.6; Kqq=0.8; Kdd=1

Figures 4, and 5 demonstrate that the controller maintains a high level of robustness despite parameter
uncertainties/apprehensions and load torque disturbance change. Compared with other recent works in the
field [18]–[20], the presented approach is much more reliable and accurate. It is stated that the findings of this
Permanent magnet synchronous motor control performed using PI-backstepping … (Said Ziani)
206  ISSN: 2088-8694

study may be optimized utilizing a novel algorithm for mobile energy optimization by providing a heuristic
solution based on the duties of the device [21]–[23]. The authors of [24] investigate the optimization of
processing time and computing resources in a mobile edge computing node. Finally, this study's results
highlight the integrated data analysis techniques often used in biomedical signal processing, such as ICA-NMF-
SVD-PCA [25]–[28] with wavelets to further enhance the effectiveness of the methods as mentioned earlier.

(a)

(b)

Figure 4. d_q axis Currents (a) for Kww=16; Kqq=8; Kdd=10 and (b) for Kww=1.6; Kqq=0.8; Kdd=1

(a) (b)

Figure 5. Electromagnetic torque (a) for Kww=16; Kqq=8; Kdd=10 and (b) for Kww=1.6; Kqq=0.8; Kdd=1

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Int J Pow Elec & Dri Syst ISSN: 2088-8694  207

4. CONCLUSION
To improve the control's dynamic performance, we implemented an adaptive backstepping method.
Each of the phases in the algorithm, as well as the stability analysis, have been discussed in detail. Proof of this
method's worth lies in the fact that it permits adjustments to be made to the stator resistance, load torque, and
inductors even when these parameters are not known. Results from the simulation agree with those predicted,
proving the method to be successful. In conclusion, the findings of this study might be applied to prevent the
failure of hybrid vehicles propelled by synchronous motors due to the excessively lengthy required ascent time.

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BIOGRAPHIES OF AUTHORS

Prof. Dr. Said Ziani is a professor at the Department of Electrical Engineering

at Hassan II University (ESTC) in Casablanca, Morocco. He is with also Health
Technologies Engineering Department, Research Group in Biomedical Engineering and
Pharmaceutical Sciences, ENSAM, Mohammed V University, Agdal, Morocco His research
interests include digital design, industrial applications, industrial electronics, industrial
informatics, power electronics, motor drives, renewable energy, FPGA and DSP
applications, embedded systems, adaptive control, neural network control, automatic
robot control, motion control, and artificial intelligence. He is a senior Member of IEEE
with Member/Customer Number: 98711129. He can be contacted at email:
[email protected] or [email protected].

Mohamed El Ghmary is a Professor of Computer Science at the Faculty of

Sciences Dhar El Mahraz (FSDM), Sidi Mohamed Ben Abdellah University, Fez, Morocco.
He is an associate member of Research Computer Sciences Laboratory (LRI), Team
Intelligent Processing and Security of Systems (IPSS) ) of Computer Science Department at
the Faculty of Sciences, Mohamed V University (UM5), Rabat Morocco. He is also an
associate member of Research Laboratory in Computer Science and Telecommunications
(LARIT), Team Networks and Telecommunications, Faculty of Sciences, Ibn Tofail
University, Kenitra, Morocco. His research interests are in Mobile Edge Computing (MEC),
Cloud Computing, Machine Learning, Deep Learning, Intelligent Systems and
Optimization. He can be contacted at email: [email protected].

Dr. Youssef Agrebi Zorgani is a full-time Professor in the electronics and

power drive at the Department of Mechanical Engineering and at the Higher Institute of
Technological Studies of Sfax, Tunisia. Dr. Youssef Agrebi Zorgani received his Ph.D.
degree in Electrical Engineering from the National School of Engineering of Sfax (ENIS)-
Tunisia and Ph.D. degree in Automatic from the Faculty of Science, University of d'Aix-
Marseille – France. Dr. Youssef AGREBI ZORGANI has published 30+ papers and 1 book
in the field of power Electronics and Motor Drive. He is a Member of Laboratory of Sciences
and Techniques of Automatic control and computer engineering Lab-STA (ENIS, Sfax,
Tunisia). Dr. Youssef Agrebi Zorgani actively serves as a reviewer in several journals and
conference publications, including IEEE conferences and journals. He is the ECONOV’2022
International Conference on Ecological Innovation Chairman for 2022. His research
interests focus on Electrical Power Engineering, Electrical & Electronics Engineering,
Power Electronics, Renewable Energy, and Control systems. He can be contacted at email:
[email protected].

Int J Pow Elec & Dri Syst, Vol. 14, No. 1, March 2023: 199-208