International Journal of Power Electronics and Drive Systems (IJPEDS)

Vol. 12, No. 3, September 2021, pp. 1358~1368

ISSN: 2088-8694, DOI: 10.11591/ijpeds.v12.i3.pp1358-1368  1358

Real time implementation of anti-windup PI controller for

speed control of induction machine based on DTC strategy

Lahcen Ouboubker1, Jawad Lamterkati2, Mohamed Khafallah3, Aziz El Afia4

1Faculty of Applied Sciences of Ait Melloul, Ibn Zohr University, Agadir, Morocco
1LGEMS Laboratory, National School of Applied Sciences of Agadir, Ibn Zohr University, Agadir, Morocco
2RITM Laboratory, High School of Technology, Hassan II University, Casablanca, Morocco
1,2,3,4Energy and Electrical Systems Laboratory, ENSEM, Hassan II University, Casablanca, Morocco
4ENSAM, Hassan II University, Casablanca, Morocco

Article Info ABSTRACT

Article history: This paper presents simulation and experimental results of anti-windup PI
controller to improve induction machine speed control based on direct torque
Received Dec 29, 2020 control (DTC) strategy. Problems like rollover can arise in conventional PI
Revised Jun 2, 2021 controller due to saturation effect. In order to avoid such problems anti-
Accepted Jul 13, 2021 windup PI controller is presented. This controller is simple for
implementation in practice. The proposed anti-windup PI controller
demonstrates better dynamic step changes response in speed in terms of
Keywords: overshoots. All simulation work was done using Simulink in the MATLAB
software. The experimental results were obtained by practical
Anti-windup PI controller implementation on a dSPACE 1104 board for a 1.5 KW induction machine.
Direct torque control Simulation and experimental results have proven a good performance and
dSPACE 1104 verified the validity of the presented control strategy.
Induction machine
Real time implementation This is an open access article under the CC BY-SA license.
Speed drive

Corresponding Author:
Lahcen Ouboubker
Departement of Physics
Faculty of Applied Sciences of Ait Melloul
LGEMS, ENSA, Ibn Zohr University, Agadir BP 1136, Morocco
Email: [email protected]

1. INTRODUCTION
Traditionally, DC motors are used for speed variation of electric machines, because the magnetic flux
and electromagnetic torque are easily controlled by the stator and rotor current, respectively [1]. In the last two
decades, AC motors are replacing DC motors. The induction machine (IM) is the most robust and responsive
AC motor in the industry. However, its nonlinear and highly coupled structure presents a limitation to the
performance of the control of this induction machine [2]. In the last decade, a new control method called DTC
has been introduced. DTC has received considerable attention in industrial motor drive applications. The main
reason for its popularity is due to its simple structure, robustness to rotor parameter variations and fast dynamic
response [3].
Direct torque control (DTC) has been developed to replace traditional PWM drives of the open- and
closed-loop type used in FOC [4]. DTC has several advantages: torque response, torque repeatability, motor
dynamic and static speed accuracy [5]. The DTC method is characterized by a switching table that determines
the voltage vector to be applied for controlling the switches of the voltage inverter [6]. This control method is
very simple. It allows decoupled control to flux and torque without resorting to use the technique of width
modulation and pulse current regulators [6]. This type of control is based on non-linear correctors of the
hysteresis type which present limitations in case of large switching and uncontrollable frequency [6].

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Int J Pow Elec & Dri Syst ISSN: 2088-8694  1359

On the other hand, the design of the speed controller greatly affects the performance of the drive.
Vector control generally uses proportional-integral (PI) speed controller as inner speed loop to generate
torque current [7], [8]. PI speed controller is often used because it can reduce steady state error and easy to
implement. To get fast dynamic response, high PI gains cause undesirable system behavior such as high
overshoot and slow settling time. On the other hand, integral-proportional (IP) speed controller has been
presented in [8], [9], [10] that provide better performance in reducing or eliminating overshoot, but still gives
fast dynamic response.
Both speed controller schemes on conventional PI and conventional IP are designed without
considering the limit of controller output. Whereas, in real condition, a control system will find the saturation
problem. When it saturated, the feedback loop can be damaged and the system works like an open loop
system. In addition, the existence of integral action that responds to accumulated errors from the past can
lead to large overshoot, delayed response, slow settling time, even system instability. This problem is called
windup effect. Anti-windup strategies are available in order to solve the problem of windup effect [11], [12].
The conventional antiwindup methods include: (i) conditional integration [13]-[15], where the
integral action is activated or deactivated depending on certain conditions, the integration being suspended in
case of saturation and the control error is of the same sign as the control signal; (ii) the use of a limited
integrator [16], where the integrator value is limited to the linear range of the actuator by hard feedback via a
high-gain dead zone; (iii) in [17]-[19] a classical method for computing feedback in which the difference
between the saturated and unsaturated control signal is used to generate a feedback signal that acts on the
integrator input is presented [20]. Unified anti-doubling strategies that combine the tracking back calculation
and conditional integration approaches are presented in [20], [21].
In this work we present an anti-windup PI speed control for an induction machine based on a direct
torque control strategy, in order to eliminate the undesirable side effect known as integrator windup. The
proposed anti-windup controller has some advantages: almost zero overshoot and very simple
implementation in existing PI controllers. To validate our approach, the Anti-windup PI controller
performances for induction machine speed control based on direct torque control strategy have been
investigated by simulations under MATLAB/Simulink and the validity of the proposed control scheme is
proved by the experimental results on dSPACE system with DS1104 controller board.

2. INDUCTION MACHINE AND THREE PHASE INVERTER MODELING

Figure 1 shows a simplified circuit diagram of a conventional two-level voltage inverter feeding an
induction machine. The delivered voltage vector depends on the state of the switches Sa, Sb, Sc and the DC
voltage E.

Figure 1. Three-phase voltage inverter fed induction machine

2.1. Modeling of the three-phase inverter

The function of the inverter is to convert the direct voltage into alternating one. The DC-AC converter
is composed of 6 insulated gate bipolar transistors (IGBTs) to control the three-phase induction machine. The
aim of this kind of system is to manage the amplitude and frequency of the stator voltages. The three-phase
inverter model contains eight switching states. Figure 2 shows the representation of each IGBT state based on a
vector presentation.

Real time implementation of anti-windup PI controller for speed control of induction … (Lahcen Ouboubker)
1360  ISSN: 2088-8694

Figure 2. Operating conditions of three-phase inverter: vector presentation of the voltages

The stator phase voltages are described in (1) using literature [22], where V(a,b,c) are the three
phase stator voltages, E is the DC link voltage and S(a,b,c) are the switching functions that can take two logic
values 0 or 1.
𝐸
𝑣𝑎𝑛 = (2𝑆𝑎 − 𝑆𝑏 − 𝑆𝑐 )
3
𝐸
𝑣𝑏𝑛 = (−𝑆𝑎 + 2𝑆𝑏 − 𝑆𝑐 ) (1)
3
𝐸
𝑣 = (−𝑆𝑎 − 𝑆𝑏 + 2𝑆𝑐)
{ 𝑐𝑛 3

The output voltage of the inverter is defined in (2) and (3) using the vector presentation.

𝑣𝑠 = 𝑣𝑠𝛼 + 𝑗𝑣𝑠𝛽 (2)

1 1
1 − − 𝑣𝑎𝑛
𝑣𝑠𝛼 2 2
[𝑣 ] = [ √3 √3] [𝑣𝑏𝑛 ] (3)
𝑠𝛽
0 − 𝑣𝑐𝑛
2 2

Then, 𝑣𝑠 can be expressed using (4). The (4) allows the determination of the voltage for each sector using the
vector presentation.

2𝜋 4𝜋
2
𝑣𝑠 = √ 𝐸(𝑆𝑎 + 𝑒 𝑗 3 𝑆𝑏 + 𝑒 𝑗 3 𝑆𝑐 ) (4)
3

2.2. Modeling of the three-phase induction machine

The induction machine is a nonlinear and unsymmetrical system. As reported in literature, the stator
and rotor voltage equations can be represented in a stationary reference frame using (5) and (6) [23]-[25].
The (7) and (8) give the stator flux equations. The parameters of these equations are defined by:
𝑣𝑠𝛼 , 𝑣𝑠𝛽 : α-β stator voltages
𝑖𝑠𝛼 , 𝑖𝑠𝛽 , 𝑖𝑟𝛼 , 𝑖𝑟𝛽 : stator and rotor currents;
𝜙𝑠𝛼 , 𝜙𝑠𝛽 , 𝜙𝑟𝛼 , 𝜙𝑟𝛽 : α-β stator and rotor flux;
Rs, Rr : stator and rotor resistances;
Ls, Lr : stator and rotor inductances;
M : mutual inductance;
np : machine pole pairs.

𝑣𝑠𝛼 𝑖𝑠𝛼 𝑑 𝜙𝑠𝛼

[𝑣 ] = 𝑅𝑠 [𝑖 ] + [𝜙 ] (5)
𝑠𝛽 𝑠𝛽 𝑑𝑡 𝑠𝛽

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Int J Pow Elec & Dri Syst ISSN: 2088-8694  1361

𝑣𝑟𝛼 0 𝑖𝑟𝛼 𝑑 𝜙𝑟𝛼 𝜙𝑟𝛼

[𝑣 ] = [ ] = 𝑅𝑟 [𝑖 ] + [𝜙 ] + 𝜔[𝐺] [𝜙 ] (6)
𝑟𝛽 0 𝑟𝛽 𝑑𝑡 𝑟𝛽 𝑟𝛽

𝜙𝑠𝛼 𝑖𝑠𝛼 𝑖𝑟𝛼

[𝜙 ] = [𝐿𝑠 ] [𝑖 ] + [𝑀] [𝑖 ] (7)
𝑠𝛽 𝑠𝛽 𝑟𝛽

𝜙𝑟𝛼 𝑖𝑟𝛼 𝑖𝑠𝛼

[𝜙 ] = [𝐿𝑠 ] [𝑖 ] + [𝑀] [𝑖 ] (8)
𝑟𝛽 𝑟𝛽 𝑠𝛽

3. BASIC DTC OF INDUCTION MACHINE DRIVE

DTC is a vector control method used to control the torque and therefore the speed of the induction
machine by controlling the switching sequence of the inverter transistors. The Figure 3 shows the basic DTC
principle. The DTC provides direct and independent the control of the flux and torque of an induction
machine by selecting the optimal switching modes of the voltage inverter. it allows the flux and torque to be
maintained within their hysteresis bands. Thus, DTC provides very fast torque response without using
coordinate transformation, current controllers and PWM generator. In the DTC, the machine torque control is
achieved with two hysteresis controllers, one for stator flux magnitude error and the other for the torque
magnitude error. The selection of one switching vector per sampling time depends on the sign of these two
controllers [6].

Figure 3. Basic DTC scheme for induction machine drive with speed loop

By using a (𝛼, 𝛽) stationary stator reference frame, the stator flux linkage 𝜙𝑠 and electromagnetic
torque Гe are calculating by using (9) and (10):
𝑡
𝜙𝑠𝛼 = ∫0 (𝑉𝑠𝛼 − 𝑅𝑠 𝐼𝑠𝛼 )𝑑𝑡 (9)

𝑡
𝜙𝑠𝛽 = ∫0 (𝑉𝑠𝛽 − 𝑅𝑠 𝐼𝑠𝛽 )𝑑𝑡 (10)

The stator flux linkage phasor is given by (11):

2 + 𝜙2
𝜙𝑠 = √𝜙𝑠𝛼 (11)
𝑠𝛽

The angle 𝜃𝑠 is equal to:

𝜙𝑠𝛽
𝜃𝑠 = 𝑡𝑎𝑛−1 ( ) (12)
𝜙𝑠𝛼

Real time implementation of anti-windup PI controller for speed control of induction … (Lahcen Ouboubker)
1362  ISSN: 2088-8694

The estimated electromagnetic torque is given by (13):

T𝑒 = 𝑛𝑝[𝜙𝑠𝛼 𝐼𝑠𝛽 − 𝜙𝑠𝛽 𝐼𝑠𝛼 ] (13)

The error between the estimated torque Г𝑒 and the reference torque Г∗𝑒 is the input of a three level hysteresis
comparator, whereas the error between the estimated stator flux magnitude 𝜙𝑠 and his reference stator flux
magnitude 𝜙𝑠∗ is the input of a two level hysteresis comparator. Figure 4 (a) and Figure 4 (b) illustrate the
flux and torque comparators.

𝐶𝜙𝑠 𝐶𝑇𝑒

1 1
−𝛥𝑇𝑒
𝜙𝑠∗ − 𝜙𝑠 0
+𝛥𝑇𝑒
0 -
−𝛥𝜙𝑠 +𝛥𝜙𝑠
1
(a) (b)

Figure 4. Hysteresis comparators, (a) flux hysteresis comparator; (b) torque hysteresis comparator

To determine the stator voltage vector to be applied, the circular stator flux path is first divided into six
symmetrical sectors (Figure 5) [6]. Then, the effect of each stator vector voltage on the flux and torque is
studied. The selection of the adequate voltage vector is based on the switching table given in Table 1. The
inputs quantities are the flux sector and the outputs of the two hysteresis comparators.

Figure 5. Influence of the voltage vector selected on the variation of stator flux modulus and torque

Table 1. Switching table

Sector 𝑆𝑖
𝑆1 𝑆2 𝑆3 𝑆4 𝑆5 𝑆6
𝐶𝜙𝑠 𝐶𝛤𝑒
1 V2 V3 V4 V5 V6 V1
1 0 V7 V0 V7 V0 V7 V0
-1 V6 V1 V2 V3 V4 V5
1 V3 V4 V5 V6 V1 V2
0 0 V0 V7 V0 V7 V0 V7
-1 V5 V6 V1 V2 V3 V4
V0=[0,0,0] ; V1=[1,0,0] ; V2=[1,1,0] ; V3=[0,1,0] ; V4=[0,1,1] ; V5=[0,0,1] ; V6=[1,0,1] ; V7=[1,1,1]

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Int J Pow Elec & Dri Syst ISSN: 2088-8694  1363

4. ANTI-WINDUP PI CONTROLLER
The structure of the anti-windup PI controller based on the back-calculation method is presented in
Figure 6. The saturation error ue and anti-windup gain K are the main parameters for the integral action
correction, where:

𝑢𝑒 = 𝑢𝑖𝑛 − 𝑢𝑜𝑢𝑡 (14)

A feedback signal is generated from the difference between the saturated and unsaturated control signals and
is used to reduce the integrator input when the controller output exceeds the actuator limits. The saturation in
Figure 6 can either be a model used in the controller or the actual saturation of the actuator if its output is
measurable.

Figure 6. Anti-windup PI controller based on back calculation method

5. SIMULATION RESULTS AND DISCUSSION

In order to evaluate the performance of the proposed control strategy, simulation tests were carried
out in MATLAB/Simulink environment for a 1.5 kW induction machine. Table 2 shows the regroups the
electrical and mechanical parameters values. Different simulation tests were carried out under the conditions,
DC voltage E=150V; Reference stator flux 𝜙𝑠 𝑟𝑒𝑓 = 0.35𝑊𝑒𝑏; 𝛥𝜙𝑠 = 0.01𝑊𝑒𝑏, 𝛥Г𝑒 = 0.02𝑁. 𝑚; and the
sampling time 𝑇𝑠 = 1𝑒 4 𝑠. The first test aims to evaluate the speed tracking efficiency. In fact, as shown in
Figure 7, starting from a steady state of 600 rpm, 400 rpm acceleration and deceleration steps were applied
respectively at t=1,2 s and t=3 s. We remark that the Anti-windup PI speed controller has achieved the test
goals: no over/under-shoots, faster time response and better constancy in steady state. Figure 8 presents
electromagnetic torque.
The stator currents Figure 9 and Figure 10 are sinusoidal and present less harmonics. The stator flux
Figure 11 tracks its reference with good performance. The second test is to evaluate the disturbances
rejection effectiveness. In fact, during this test, the speed was maintained at 600 rpm and a disturbance (80%
of load torque (𝑇𝑟 )) was inserted at 𝑡 = 1.5𝑠 and removed at t=3s . As shown in Figure 12, the proposed PI
Anti-windup controller has significant improvements; the rejection of load disturbances was done quickly. In
addition, as schown in Figure 13, the developed torque follows the load torque. The compensations for
disturbance are achieved by developed electromagnetic torque automatically.

Table 2. Induction machine parameters 1200

Parameters value w ref
Rated Power P 1.5 kW 1000 wm
Voltage V 220/380 V
w (rpm)

Number of Pair Poles np 2 800

Stator Resistance R s 5.63 Ω
Rotor Resistance R r 2.62 Ω 600
Stator Self-Inductance Ls 0.018 H
Rotor Self-Inductance Lr 0.018 H
Mutual Inductance M 0,20 H 400
0.5 1 1.5 2 2.5 3 3.5 4
Total inertia J 0,023 kg. m2
Time (sec)
Friction coefficient f 0,00155 N. m. s
Figure 7. Speed tracking responses, case of 400 rpm
acceleration/deceleration

Real time implementation of anti-windup PI controller for speed control of induction … (Lahcen Ouboubker)
1364  ISSN: 2088-8694

10
isa
5 5 isb
Te (N.m)

isc
0
0
-5

-5
-10
0.5 1 1.5 2 2.5 3 3.5 4
Time (sec)
0.5 1 1.5 2 2.5 3 3.5 4
Figure 8. Electromagnetic Torque response Figure 9. Stator current responses

4
isa
0.5

Flux beta (Web)

isb
2
isc
0
0

-0.5
-2

-0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8

-4
1 1.02 1.04 1.06 1.08 1.1 1.12 1.14 1.16 1.18 1.2 Flux alpha (Web)

Figure 10. Zoom on stator current responses Figure 11. Stator flux in the αβ phase plane

620 4
w ref
610
Te (N.m)

wm 2
w (rpm)

600
0
590
-2
580 0.5 1 1.5 2 2.5 3 3.5 4
1 1.5 2 2.5 3 3.5 4 Time (sec)
Time (sec)

Figure 12. Disturbances rejection response for Figure 13. Disturbances rejection response for
80% of 𝑇𝑟 and 600 rpm reference speed: speed 80% of 𝑇𝑟 and 600 rpm reference speed: torque
response response

6. EXPERIMENTAL SETUP AND PRACTICAL RESULTS

6.1. Experimental setup
The realized experimental setup is shown in Figure 14 and Figure 15. It consists of: (i) an IGBTs
Voltage Inverter, (ii) the 1.5 KW induction motor (coupled in star) is driven under load with the help of DC
generator mechanically coupled to the motor and having the following characteristics: 1KW, 220V, 6.5A,
2520rpm. The latter supplies a 4KW resistive bank to produce different load torques, (iii) A dSPACE 1104
board based on a 250 MHz 603-PowerPC- 64-bit processor and a slave-DSP based on a 20 MHz
TMS320F240-16-bit microcontroller is used. The dSPACE works on Matlab/Simulink R2013b platform.
dSPACE board is used with Control Desk software which makes the record of the results easy. It helps also
by making the development of controllers effective and automates the experiments. With the dSPACE 1104
the user can design the drive in MATLAB/SimulinkR2013b and with the help of Real-Time Workshop
(RTW) of MATLAB/Simulink R2013b and Real Time Interface (RTI), the user can convert them to real-time
codes, (iv) A tachogenerator is used for speed sensor (15V for 1500rpm).

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Int J Pow Elec & Dri Syst ISSN: 2088-8694  1365

Figure 14. Experimental platform

Figure 15. Different parts of experimental test bench and its dSPACE control

6.2. Practical results and discussion

To validate the simulation results, different practical tests were carried out under the conditions:
DC voltage E=150V; Reference stator flux 𝜙𝑠 𝑟𝑒𝑓 = 0.35𝑊𝑒𝑏; 𝛥𝜙𝑠 = 0.01𝑊𝑒𝑏, 𝛥𝑇𝑒 = 0.02𝑁. 𝑚; and the
sampling time 𝑇𝑒𝑐ℎ = 1𝑒 −4 𝑠. The first test aims to evaluate practically the speed tracking efficiency. In fact,
as shown in Figure 16, starting from a steady state of 600 rpm, 400 rpm acceleration and deceleration steps
were applied. We remark that the Anti-windup PI speed controller has achieved the test goals: no over/under-
shoots, faster time response and better constancy in steady state. Figure 17 presents practical electromagnetic
torque. Figure 18 and Figure 19 shows that the stator currents of the machine have a sinusoidal waveform
and present less harmonics. The stator flux Figure 20 tracks its reference with good performance. the
experimental results confirm the simulation results.

Real time implementation of anti-windup PI controller for speed control of induction … (Lahcen Ouboubker)
1366  ISSN: 2088-8694

10
1000 w ref
wm 5

Te (N.m)
w (rpm)

800 0

-5
600
-10
0 5 10 15 20 25 30 35 40 0 5 10 15 20 25 30 35 40
Time (sec) Time (sec)

Figure 16. Practical speed tracking response, case of Figure 17. Practical electromagnetic torque response
400 rpm acceleration/deceleration

4
isa isa
5 isb 2 isb
isc isc

Is (A)
Is (A)

0 0

-2
-5
-4
0 5 10 15 20 25 30 35 40 5 5.01 5.02 5.03 5.04 5.05 5.06 5.07 5.08 5.09 5.1
Time (sec) Time (sec)

Figure 18. Practical stator currents responses Figure 19. Zoom on stator currents responses
Flux beta (Web)

0.5

-0.5

-0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8

Flux alpha (Web)

Figure 20. Practical stator flux in the αβ phase plane

The second test is to evaluate the disturbances rejection effectiveness. In fact, during this test, the
speed was maintained at 600 rpm and a disturbance (80% of 𝑇𝑟 ) was inserted at 𝑡 = 13.4𝑠 and removed at
t=20s. As shown in Figure 21, the proposed anti-windup PI controller offers significant improvements; load
disturbance rejection was achieved quickly with the proposed controller. Moreover, as schown in Figure 22,
the developed torque can follow the load torque. The compensations for disturbance are achieved by
developed electromagnetic torque automatically. The experimental results confirm the simulation results.

620 4

610
2
Te (N.m)
w (rpm)

600
0
590

580 -2
12 13 14 15 16 17 18 19 20 21 22 12 13 14 15 16 17 18 19 20 21 22
Time (sec) Time (sec)

Figure 21. Experimental disturbances rejection Figure 22. Experimental disturbances rejection
response for 80% of 𝑇𝑟 and 600 rpm reference response for 80% of 𝑇𝑟 and 600 rpm reference
speed: speed response speed: torque response

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Int J Pow Elec & Dri Syst ISSN: 2088-8694  1367

7. CONCLUSION
In this paper, we presented a simulation and real time implementation study of anti-windup PI
controller in order to improve induction machine speed control based on direct torque control strategy. A
model of proposed control scheme, based on the Matlab-Simulink simulation tool, has been proposed and
validated through-out experimental test results. The experimental results show that the DTC method applied
to an induction machine using an Anti-windup PI controller of speed present most interest and contribute to
improvement the performance of system.

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Real time implementation of anti-windup PI controller for speed control of induction … (Lahcen Ouboubker)
1368  ISSN: 2088-8694

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BIOGRAPHIES OF AUTHORS

Lahcen Ouboubker was born in Morocco in 1983. He received the Master’s degree in
electrical engineering from the Faculty of Science Semlalia Marrakech, Morocco, in 2007 and
the Ph.D degree in Electrical Engineering in 2017 from the National Higher School of
Electricity and Mechanics (ENSEM), Hassan II University Casablanca, Morocco. Since July
2018, he has been with Ibn Zohr University, Morocco, where he is currently professor at the
Faculty of Applied Sciences of Ait Melloul (FSAAM). His current research interests are
advanced control for the AC Machines, renewable energy and advanced control of the power
electronic converter.

Jawad Lamterkati was born in Morocco in 1981. He received the Master’s degree in
electrical engineering from the Faculty of Science Semlalia Marrakech, Morocco, in 2007 and
the Ph.D degree in Electrical Engineering in 2017 from the National Higher School of
Electricity and Mechanics (ENSEM), Hassan II University Casablanca, Morocco. Since June
2019, he has been with Higher School of Technology (ESTC), Hassan II University
Casablanca, Morocco, where he is currently professor at the Electrical Engineering
Department. His main fields of interest are modelling, control in power electronics, power
converters (inverters, converters, controlled and uncontrolled rectifier) and motors drives.

Mohamed Khafallah was born in Morocco in 1964. He received B.Sc., M.Sc. and Doctorate
degrees from Hassan II University, Casablanca, in 1989, 1991 and 1995 respectively, all in
Electrical Engineering. In 1995 he joined the National High School of Electricity and
Mechanics (ENSEM), Hassan II University, Casablanca, Morocco, where he is currently
professor tutor in the Department Electrical Engineering and chief of Laboratory Energy and
Electrical Systems (LESE). His main research interests the application of power electronics
converts and motor drives. He has published a lot of research papers in international journals,
conference proceedings as well as chapters of books.

Aziz El Afia received B.Sc., M. Sc. degrees from Hassan II University, Casablanca in 1990,
1994 respectively and the Ph.D. degree in Electrical Engineering from The National High
School of Electrical and Mechanical Engineering (ENSEM), Hassan II University, Casablanca
in 2009. Since 2011 he has been working as a Professor of Power Electronic at the National
High School of Arts and Crafts of Casablanca (ENSAM). His current research interests are in
power electronics converters and control of machines and drives for application from
automotive to renewable energy.

Int J Pow Elec & Dri Syst, Vol. 12, No. 3, September 2021 : 1358 – 1368