Iranian Journal of Electrical and Electronic Engineering No.

(YEAR) pp-pp

Comparison of BLDC motor drive speed control

performance with and without CPLD
Juli Singh Sadhak*(CA), Surekha Bhusnur **and S.P. Dubey***
Abstract: The widespread usage of brushless motors in today's technological trend
necessitates the occasional development of novel control techniques. This study
compares the mathematical design of speed control for a brushless direct current
(BLDC) motor using a complex programmable logic device (CPLD) with the
implementation of speed control without CPLD modeling. A PWM technique is used to
mathematically construct speed control by applying different duty cycles to a 3-ф
inverter. The rotor position is determined via Hall sensors, which act as references to

synchronize the PWM control signals. Verilog Hardware Description Language (VHDL)
is used to write the control model, which is then validated by simulation of with CPLD.
To evaluate the BLDC motor's speed performance under PWM control, an experimental
setup is constructed. A 500W BLDC motor with a 48V rating is equipped with CPLD
Max II devices to implement the control algorithm. This system generates PWM with a
configurable duty cycle for a working frequency of roughly 20 kHz and commutates
consecutively up to 400 RPM using a six-step commutation.

Keywords: CPLD - Complex Programmable Logic Device, ESC – Electronics Speed

control, PI- proportional Integral, VHDL - Verilog Hardware Description Language,
PWM–Pulse Width Modulation, PM- Permanent magnet, BLDC- brush less direct
current motor, 3-ф- Three phase.

1 Introduction

brushes don't produce friction. Its rotor is a permanent
magnet, and to keep the motor going, an electronic
controller must continuously change the phase of the
Due to the variation in winding driving current winding. To do this, a power electronics switching
waveforms, DC brushless motors are classified into two circuit and a feedback sensor are required (2). The most
categories. One of these types is the square wave which recent powerful CPLD / FPGA devices could be used in
is the trapezoidal wave, and the other is the PM BLDC drives. 3-ф BLDC machines usually use power
synchronous motor, so named because the current converters to implement control strategies. Despite the
flowing in the armature conductor is a sine wave (1). rapid development of special-purpose controllers, a
programmable logic device or special-purpose processor
BLDC motors have drawn a lot of interest because of
is frequently needed to supply sufficient control signals
their strong performance, high dependability, and
to achieve the desired function (2). There is a close
enhanced efficiency in commercial, residential, and
relationship between the applied voltage and the motor's
industrial settings. A BLDC motor may be able to
speed. By altering the average voltage across the
transfer more electrical power into mechanical power for
windings, the speed can be changed. PWM signals are
the same input power as a brushed motor because


IranianJournalofElectrical&ElectronicEngineering,2025.
Paper first received DD MONTH YYYY and accepted DD MONTHYYYY.
*TheauthoriswiththeDepartmentofXXX,YYYUniversity,Address.
E-mail:[email protected].
**TheauthorsarewiththeDepartmentofXXX,YYYUniversity,Address.
E-mails:[email protected],[email protected].
Corresponding Author: Second B. Author.

IranianJournalofElectrical&ElectronicEngineering,Vol.XX,No. X,DecemberYYYY 1
utilized to regulate the duty cycle since commutation is are activated by the rotor magnets. The stator frame has
provided by electronic switches (2). three hall sensors positioned each 1200 apart. The
location of the rotor is sensed using digital data from the
In order to create PWM signals, this study simulates a
hall sensors (4).
BLDC motor control system using CPLD as the
principal controller. An integrated hall-effect sensor
calculates the commutation sequence and tracks the
position of the BLDC motor rotor.
The application of CPLD provides more advantages
than micro-controller or FPGA when compared to other
works. For such parallel processing, CPLDs operate Figure 2 shows Modeling and simulation of BLDC
faster than microcontrollers. The FPGA use case will motor Drive
overrate resources due to the design's simplistic
algorithm. Additionally, when the system is first A PI controller regulates the speed of a brushless DC
powered up, there is no requirement for programming or motor in figure 2, which shows the BLDC motor drive
configuration because CPLD is a non-volatile device (3). modeled in MATLAB 2018b version. The BLDC
motor's rotor position is determined by integrated hall
This paper's remaining contents are structured as sensors, and its speed is controlled by a potentiometer.
follows. MATLAB modeling simulink comparison with An encoder or Hall-effect sensor can be used as a speed
and without CPLD based BLDC Motor speed Control sensor (5).
System is thoroughly explained in Chapter II and the
respectively simulation results are explained in Chapter This article discusses the Kp and Ki parameters of the
III. PI controller for the BLDC motor speed control system.
When compared to other traditional methods, the
benefits of PI tuning include computational efficiency
2 MATLAB modeling simulink comparison with and due to its ease of implementation and speedy processing
without CPLD based BLDC Motor speed Control (6).
System This modeling is a traditional technique. Using this
A brushless DC motor is built similarly to a DC motor technique, the performance of the motor is studied or its
without brushes. It can have different winding layouts or result is compared with the result that has been modeled
3-ф arrangements like a star or delta design. 3-ф BLDC using CPLD controlled PWM signal.
motor control will be the main topic of this study. Error of the PI controller is the difference between the
The MATLAB Simulink model of BLDC motor speed reference speed (ωref) and the actual speed (ω act). The PI
control using CPLD is depicted in the block diagram controller processes the error to generate a control
below signal:

u(t) = Kp e(t) + Ki ∫ e(t )dt --------------------- (1)

Where Kp : proportional gain
Ki : integral gain.
In this method we have kept the value of Kp = 36 and
value of Ki = 0.08, for tuning.
2.2. Brushless DC motor drive mathematical
Figure 1 shows BLDC motor Drive modeling and simulation using CPLD
The position of the rotor and stator electronically
2.1 Modeling and simulation of BLDC motor Drive controls the BLDC motor's commutation. We must
Without CPLD control the voltage on the driver since the applied voltage
affects the speed of the BLDC motor (3). To adjust the
Rotor position feedback is a feature of permanent voltage, the pulse width modulation technique will alter
synchronous brushless DC motors. Typically, a 3-ф the duty cycle of the PWM signals using CPLD.
power semiconductor bridge controls the brushless DC
motors. It takes a rotor position sensor to start the motor
and supply the right commutation sequence to turn on
the inverter bridge's power components (4).
The information required to synchronize the rotor
position with the motor excitation in order to generate
continuous torque is provided by the Hall Effect sensors.
It detects changes in the magnetic field. The hall sensors

2 IranianJournalofElectrical&ElectronicEngineering,Vol.XX,No. X,DecemberYYYY
 Va

vdc 1 Vb
Vabc
Vc
I_abc
ea P/2*(u[1]*u[4]+u[2]*u[5]+u[3]*u[6])
Wr_ele

electrical torque (Te) Scope4

eb
w_err vdc_ref Vdc

VabcS <Wr_mech>
Nrpm_ref gain1 ec Wr_mech
Speed Gate_pulse 2
controller <Te_vs_TL> gain2
TL
Cpld Te_vs_TL
3Phase VSI1 <Stator currents>
BLDC Motor
<trapezoidal rotor fluxes>
Stator currents

Phase a 1
<eabc>
Measurement
trapezoidal rotor fluxes
<hall_sensors>
phir' theta_e
1 Wr_ele eabc
s

hall_sensors
e_abc wr_ele

Gates Hall

Commutation Logic theta_e Hall

Hall_sensor

Figure 3 BLDC motor drive simulation and Figure 4 represent in MATLAB brushless DC motor
mathematical modeling using CPLD block with CPLD
Figure 1 displays BLDC motor control system's general Electrical torque for each phase
architecture. Our system has speed controlled by PI
controller and a position signal sense by sensors. As the Ta = k Ia cos ∅
brain of our system, the PWM logic signal component Tb = k Ib cos (∅ −120)
will be managed by the complex programmable logic
device (CPLD). Tc = k Ic cos (∅ −240)
Block diagram explanation for the BLDC motor Resultant electrical torque
driving system
Te = Ta + Tb + Tc
a) Speed controller:- The controller regulates the
speed of the brushless DC motor. Due to its great c) Mathematical CPLD (Complex Programmable
efficiency, longevity, and little maintenance needs, Logic Device) – The term "CPLD" describes the
BLDC motors are popular. By reducing the gap usage of a CPLD to implement mathematical
between the set and actual speeds, a PI controller can algorithms and operations in hardware. Because
be utilized to match a desired reference speed. A PI CPLDs are programmable logic devices that build
controller can be used to match a desired reference digital circuits, they can be employed for activities
speed by decreasing the difference between the like arithmetic operations, logic processing, and
reference and real speeds. Here, back-EMF-based mathematical transformations as shown in figure 5
approaches are used to estimate speed sense without that call for quick, deterministic calculations.
sensors. Designing a mathematical CPLD to control a BLDC
motor involves implementing the necessary logic for
The equation (1) represents PI controller output u(t) commutation, PWM generation, speed control, and
is used to modulate the PWM signals for the inverter possibly advanced features like torque control.
and PWM signal is controlled or generate by CPLD.
In CPLD dynamic equation for controlling Brushless DC
b) Brushless DC motor:- BLDC motors can be
motor and represents the electrical dynamic of stator
efficiently controlled by a complex programmable
winding in a two phase stationary reference.
logic device (CPLD). Motor control applications can
Stator resistance Rs :- -Rs/Lls*Ia this term of CPLD block
benefit from CPLDs, a form of programmable logic
represents the voltage drop brought on by the stator
device, which provide deterministic timing, high-
winding's resistance and current (Ia) normalized by the
speed operation, and parallel processing capabilities.
inductance (Lls)
With the use of a mathematical formula, we have Voltage inputs (Vab , Vbc ):- 2/3/Lls*Vab and
constructed a brushless DC motor. The brushless DC 1/3/Lls*Vbc these terms represents the contribution of the
motor is symbolized by the transfer function block's phase voltage applied to the motor. They are weighted
drawer. There in CPLD block also the function of CPLD factors based on the symmetrical component
has been expressed through numerical equation. In this transformation.
CPLD is given two inputs one of which is three phase Back EMF (eab, ebc):- -2/3/Lls*eab and -1/3/Lls*ebc
voltage (Va, Vb, Vc) or the other input is three phase back these terms represents the induced electromagnetic force
EMF (ea, eb, ec). CPLD controlled PWM signal through (Back EMF) in the stator winding. Generated Back EMF
combined input of voltage and back EMF which provides of BLDC motor is directly proportional to rotor speed.
three phase current Iabc to the motor. This current is used
in the electrical torque of the motor. Electrical torque
requires an angle along with the current, hence in the
modeling the electrical angle of each phase which is 120
degrees apart from the other has also been generated (7).

IranianJournalofElectrical&ElectronicEngineering,Vol.XX,No. X,DecemberYYYY 3
 Te = kt * ia -------------------------------------- (7)
Where:
Electromagnetic torque is denoted by Te,
Viscous friction coefficient by B,
Rotor's moment of inertia by J,
torque under load by TL,
Figure 5 represent the CPLD block Mathematical Angular velocity of the rotor (ωr),
Equation of BLDC motor Back emf Constant (ke),
Continuous torque (kt)
d) Calculating BLDC motor transfer function:-
Electromagnetic Torque
To describe a Brushless DC (BLDC) motor theoretically,
The back-EMF and phase currents have a direct
the electrical, mechanical, and electromagnetic
relationship with the electromagnetic torque Te. (8) (10)
subsystem equations must be determined. Below is a
detailed explanation of the BLDC motor's mathematical 1
model Te = (ea* ia + eb * ib + ec * ic) -------------------- (8)
ωr
Electrical Model:- Alternatively, for a balanced system, this can be
Using differential equations, the three stator windings simplified to:
(phases A, B, and C) of the BLDC motor may be
represented (8) (1). Te = Kt * ∑ ii * f (θ ) -------------------------------- (9)
i e
The voltage formulas for the 3-ф of a trapezoidal back- i
EMF BLDC motor are as follows (5) (9): Where Kt is the torque constant, and fi(θe) represents
the back-EMF shape.
d ia Electrical Angle
va = R⋅ ia + L + ea ------------------------- (1)
dt The electrical angle θe is related to the rotor mechanical
d ib angle θm by: (8) (7) (10)
vb = R⋅ ib + L + eb --------------------------- (2)
dt P
Θe = * θm --------------------------------------- (10)
2
d ic
vc = R⋅ ic + L + ec ---------------------------- (3) Where P is the number of pole.
dt
From equation (1) and (6)
Where:
Va, Vb and Vc = 3-ф voltages
d ia R ke 1
=- * ia - * ωr + va ---------------------
dt L L L
ia, ib, ic = 3-ф currents
(11)
R = Respective Phase resistance
From equation (4) and (7)
L = Respective Phase inductance (assumed identical for
⋅ ωr
all phases) d ωr T e T L B
= − −
ea, eb, ec = 3-ф Back-EMF voltages dt J J J

⋅
Mechanical Model d ωr Te TL B
= − − ωr
Newton's second law governs the motor's mechanical dt J J J
dynamics: (8) (1) (7) ------------------------------------------- (12)

d ωr Using Laplace transform of equation (11) and (12)

J + B⋅ ωr = Te − TL --------------------------- (4)
dt d ia R ke 1
L{ =- * ia - * ωr + va }
d ωr dt L L L
Te = J + B⋅ ωr + TL ------------------------- (5)
dt R ke 1
s ia = - * ia - * ω r + va
e = ke * ωr ---------------------------------------- (6) L L L

4 IranianJournalofElectrical&ElectronicEngineering,Vol.XX,No. X,DecemberYYYY
 R ke 1 1
s ia + * ia = - * ωr + va
L L L Ke
G(s) =
R 1 RJ L JR
ia (s + )= (V a −k e * ωr ) --------------- (13) s2 +s +1
L L Ke Kt R Ke Kt
---------------------------- (17)
⋅ ωr }
d ωr k t∗i a T L B
L{ = − − For 3-ф BLDC motor Mechanical constant
dt J J J
3 RJ
⋅ ωr ----------------------- (14)
k t TL B τm=
s ωr = ia − − Ke Kt
J J J
L
at no load TL = 0 put the value in equation (14) Electrical constant τ e =
3R
⋅ ωr
kt B
s ωr = ia − Again rewrite the equation (17)
J J
1
⋅ ωr
J B J Ke
ia = s ωr + G(s) =
kt J kt 2
s τ m τ e + s τ m +1
B
s ωr+ ⋅ ωr G(s) represents the BLDC motor's transfer function and
J
ia = ------------------------------ (15) provides the values of all the parameters. Using G(s)
kt means modeling and simulation is done so that all the
J performance of the motor can be observed through the
scope. As shown in figure
put the value of ia in equation (13)
B
s ωr+ ⋅ ωr For BLDC motors, the connection between the torque
J R 1 1
( ) (s + ) = V a − k * ωr constant Kt and the back EMF constant Ke is that
kt L L L e electrical power equals mechanical power
J 2π
2 √3 *E *I = *N*T
JL s +s JR+ s LB+ RB+ K e K t 60
Va = ωr ( )
Kt E T 2π 1
=
Transfer function of the is obtained as an take a ratio of N I 60 √ 3
angular velocity ωr and voltage 2π 1
Ke = Kt
ωr Kt 60 √ 3
G(s) = =¿ 2
Va JL s +s JR+ s LB+ RB+ K e K t K e = K t * 0.0605
Kt E VX sec
= 2
Ke = is measured in or volt/RPM
JL s +s ( JR+ LB)+ RB+ K e K t N rad
--------- (16) T N Xm
Kt = is measured in
Let it be assume some assumptions I A
a) friction constant B is very small therefore B BLDC motor electrical and mechanical parameter
tends to be 0
Voltage = 24 V
b) JR ≫ RB
Resistance of Rotor = 1.43 ohm
c) K e K t ≫ RB Inductance of Rotor = 9.4 X 10-3 H
Consider above assumption and rewrite the equation Flux of Rotor = 0.2158 wb
(16)
Inertia of Rotor J = 5.5 X 10-3 kg m2
Kt
G(s) = Friction coefficient B = 2X 10-3
2
s JL+s JR+ K e K t
Number of pole = 4

IranianJournalofElectrical&ElectronicEngineering,Vol.XX,No. X,DecemberYYYY 5
 +Slew rate 55.453 /ms 19.517 /ms

The above mathematical computations are related to -Slew rate - -14.296 /ms
how a brushless DC motor operates. Using this +Preshoot 35.920% 20.996%
calculation, simulation has been done in MATLAB 2018b
version; the results have been studied using the -Preshoot - -1.244%
mechanical parameters given above. +Overshoot 61.184% 82.600%
3. Simulation result -Over shoot - 1.997%
Outcomes of a CPLD-based BLDC motor drive +Undershoot 7.356% 1.983%
simulation
-Undershoot - 27.757%

BLDC motor Speed control by using CPLD improves

response speed, faster acceleration and with less
overshoot.

Figure 6 speeds controlled of BLDC motor with

CPLD (speed (RPM) verses time (sec.))
The reference set speed is given in the input of brushless
DC motor, in which the motor is started from 150 rpm in
the initial stage. At this set speed, the motor is started
from 150 rpm with a variation of a few sec 0.1sec. After Figure 8 Back EMF verse time with CPLD
this refrence speed is set to be 250 rpm at 1 sec, it takes
approximately 0.1 sec for the actual speed of the motor to We can also observe a change in the motor's back emf
reach 250 rpm, which we can see in the wave form from by varying its speed. The connection between motor
the middle of the sleep. The motor's speed was adjusted to speed and back emf is straightforward. Through the
80 rpm after two seconds, and the waveform shows how examination of waveform figure 8, we can deduce that the
long it takes for the motor to reach that speed. Similar to motor's back emf is roughly 7 volts while the motor is
this, the waveform in Figure 6 shows how the motor's operating at 150 rpm and grows to 250 rpm in 1 second.
speed varies over time. Here figure 6 shows the difference moves. About 12 volts are supplied to the motor. Through
between of motor set speed and motor run speed. the wave form, we can observe that the motor's back emf
drops to roughly 3.5 and 2 volts when its speed drops
from 80 rpm to 40 rpm. We can determine the proper back
emf of a BLDC motor or the speed behavior of the motor
depicted in the image by examining this wave pattern.

Figure 7 shows the speed controlled BLDC motor

without CPLD (speed in RPM verses time in sec.)
When CPLD is not utilized, the brushless DC motor's Figure 9 shows the torque verses time curve of
speed is measured. In Figure 7, its wave shape is BLDC Motor with CPLD controlled
displayed. It is evident that the engine requires some time
to attain the desired speed. Although the motor's fixed As we can see from the waveform above in figure 9, the
speed is 150 rpm, it actually approaches 50 rpm. where torque of the motor likewise depends on the speed
speed error is visible. Likewise, if the motor's specified velocity, indicating that the back emf of the motor is
speed rises or falls, the real speed may likewise exhibit reliant on the motor's speed.
inaccuracy.
Comparative table:
Table 1 Represents BLDC motor Speed comparison by using
with and without CPLD
Parameters BLDC motor Speed BLDC motor Speed
with CPLD without CPLD
Figure 10 shows the torque verses time curve of
+Rise time 1.592ms 45.400 ms BLDC Motor without CPLD controlled
- Fall time - 6.196 ms

6 IranianJournalofElectrical&ElectronicEngineering,Vol.XX,No. X,DecemberYYYY
 By looking at the above figure 10 graph or waveform tandem with its speed. If the motor's speed drops, its
we can clearly say that when CPLD is not being used to current value will likewise drop, or if the motor's speed
control the motor, there is a lot of variation in the torque accelerates, its current value will likewise rise.
of the motor. By looking at Figure 9, it becomes clear that
by using CPLD, the variation in the values of torque and
magnitude also reduces significantly.
As a result, torque ripple is reduced using the CPLD
Control technique's precise phase commutation; but,
without CPLD Control, torque ripple is increased because
of wasteful switching and delayed response. Figure 12 shows Stator current verses time curve
shows without CPLD Control strategies
Comparative table:
Figures 11 and 12 illustrate how a change in motor
Table – 2 Represents BLDC motor Torque comparison with speed causes a corresponding change in the motor's
and without CPLD
current as well as a shift in the current's duty cycle.
Parameters BLDC motor BLDC
Torque with motor By using CPLD the duty cycle of motor current
CPLD Torque becomes very low whereas without using CPLD when the
without motor is run the value of motor current also becomes high
CPLD and the duty cycle also becomes high compare to other
one as shown in figure 12.
+Rise time 346.715 µs 1.724 ms
- Fall time 314.491 µs 1.148 ms
The current waveform with CPLD would appear
smoother and more stable, as seen in the figure 11 and 12
+Slew rate 12.527 /ms 5.236 /ms plots, while the waveform without CPLD would exhibit
-Slew rate -14.026 /ms -7.798 /ms more oscillations and ripples.

+Preshoot 157.775% 64.739% Comparative table:

-Preshoot 130.308% 16.406% Table – 3 Represents BLDC motor Stator current comparisons
with and without CPLD
+Overshoot 118.370% 12.415%
Parameters BLDC motor BLDC motor
-Over shoot 5.594% 1.935% Stator current with Stator current
CPLD without CPLD
+Undershoot 0.966% 1.969%
+Rise time 483.627 µs 2.389 ms
-Undershoot 150.704% 64.710%
- Fall time 437.098 µs 2.868 ms
+Slew rate 14.347 /ms 4.208 /ms
Faster torque response (rise time, fall time, and slew
rate) is offered by CPLD. Preshoot, overshoot, and -Slew rate -16.191 /ms -4.494 /ms
undershoot are all significantly increased by CPLD. +Preshoot 144.144% 17.174%
Vibrations, inefficiencies, and mechanical wear could
result from the large torque changes. -Preshoot 93.731% 2.626%
+Overshoot 66.976% 3.998%
-Over shoot 1.016% 3.220%
+Undershoot 1.357% 4.044%
-Undershoot 114.204% 18.763%

Figure 11 Stator current verses time curve shows

with CPLD Control strategies The motor's dynamic performance is improved,
overshoot and undershoot are decreased, and response
The brushless DC motor's stator current draws a lot of
time is greatly increased by the CPLD.
current when it first starts, but it is thereafter managed by
a 3-ф current voltage source inverter. The location of the 4. CPLD algorithm output
motor's rotor is also established by properly sequencing
The CPLD output waveform is shown in figure 13
the BLDC current through CPLD, which enables the
below. The BLDC motor draws a lot of current at first
motor's phases to be triggered one at a time and yield
before reaching the appropriate rated speed. This
information.
information is given to the stator of the motor through
Examining the waveform in figure 11 above, it is CPLD to change the current of the motor. The desired
evident that the motor's input stator current varies in

IranianJournalofElectrical&ElectronicEngineering,Vol.XX,No. X,DecemberYYYY 7
PWM sequence should be given to the motor correctly so Please note that the references at the end of this
that the running operation of the motor is best. document are inthe preferred referencingstyle. Give all
authors’ names; do not use “et al.”. Use a space after
authors’ initials. Papers that have not been published
should be cited as “unpublished”. Papers that have been
accepted for publication, but not yet specified for an
issue should be cited as “to be published”. Papers that
have been submitted for publication should be cited as
“submitted for publication”.
Figure 13 Modeling CPLD output in form of current
5. Conclusion
Different Simulink models have been created for
modeling brushless DC motor in MATLAB without using
Conflict of Interest
CPLD or using CPLD. This is a comparison between the
BLDC motor mathematical model created in MATLAB All financial, commercial or other relationships that
R2018b version using CPLD and the output of the BLDC might be perceived by the academic community as
motor model, which employs a PI controller for motor representing a potential conflict of interest must be
speed control. disclosed. If no such relationship exists, authors will be
asked to confirm the following statement:
By looking at Table 1, 2 and 3 we can understand that
using CPLD significantly improves the performance of The authors declare no conflict of interest.
BLDC motor. Author Contributions
The main motivation behind creating this paper was to The Author Contributions section is mandatory for all
simulate BLDC motor drive in MATLAB through articles, including articles by sole authors. The Author
numerical mathematics. In this paper, all the sections have Contributions statement must describe the contributions
been implemented and simulated mathematically; these of individual authors referred to by their initials and, in
numerical values have also been used in our hardware doing so, all authors agree to be accountable for the
model implementation. Because CPLD is used for control, content of the work.
any PWM signal that is applied to the motor for
.
commutation is given with perfect precision or accuracy.
As a result, the brushless DC motor's performance or .
efficiency is improved in comparison to when a BLDC
motor drive without CPLD modeling is used. References
[3] Cotter N. E. and Guillerm T. J., “The CMAC and a
References theorem of Kolmogorov,” Neural Networks, Vol. 5,
[1] Cotter N. E. and Guillerm T. J., “The CMAC and a No. 2, pp. 221-228, Feb. 1992.
theorem of Kolmogorov,” Neural Networks, Vol. 5,
No. 2, pp. 221-228, Feb. 1992. [4] Zhou K., Doyle J. C. and Glover K., Robust and
optimal control, chapter 3, Englewood cliffs, NJ,
[2] Zhou K., Doyle J. C. and Glover K., Robust and USA: Prentice-Hall, 1996.
optimal control, chapter 3, Englewood cliffs, NJ,
USA: Prentice-Hall, 1996.

3 Citations andReferences
List and number all references at the end of the paper.
Multiple references [1], [2] are each numbered with Biographies (All Authors)
separatebrackets.Whenreferringtotheminthetext,typethec may include biographies at the end
orrespondingreferencenumberinsquarebracketsasshownat of papers. It may contain a place
theendofthissentence:[1] and [2]. and/or date of birth (list place, then
Alsousethereferencingstyleforpapersandbooksas shown date). Next, the author’s
by [1] and [2], respectively. Number the citations educational background is listed.
consecutively. The sentence punctuation followsthe The degrees should be listed with
brackets. Donotuse "Ref.[3]"or "reference type of degree in what field,
[3]" except at the beginning of a sentence. Capitalize whichinstitution, city, state, and
only the first word in paper title, except for propernouns country,and year degree was earned. Finally, the
and element symbols. author’s work experience, current
andpreviousjobs,publicationsandanyawards arelisted.If a

8 IranianJournalofElectrical&ElectronicEngineering,Vol.XX,No. X,DecemberYYYY
photograph is provided, the biography will be indented biography. Personal hobbies will be deleted from the
around it. The photograph is placed at the top left of the biography.

IranianJournalofElectrical&ElectronicEngineering,Vol.XX,No. X,DecemberYYYY 9
 InstructionstoAuthorsofPapersforthe
IranianJournalofElectricalandElectronicEngineering(IJEEE)
1 Scope
The Iranian Journal of Electrical & Electronic Engineering (IJEEE) is a peer reviewed journal devoted to
publish original papers of high technical standard with a suitable balance of practice and theory related to the
broad topics in the field of electrical engineering. All topics are treated with similar emphasis, such as:
 BiomedicalEngineering,
 CommunicationEngineering,
 ComputerEngineering,
 ControlEngineering,
 ElectronicEngineering,
 PowerEngineering.

2 Language
PapersshouldbewritteninEnglish.

3 Typescript
The prospective authors should prepare two files for each manuscript; one with full author's information
(name, Email address, postal address, affiliation and biography) and the other without any author's
information. Manuscripts should be typed one-column, double-spaced; 12 point Times New Roman fontand
2.5-cm margins in standard A4 paper (21 by 29.7 cm2). An abstract of 150-200 words should be included.
Authors should supply about four key words or phrases that characterize their manuscript. The
papershouldbereasonablysubdividedintosectionsand,ifnecessary,subsections.Manuscriptsshould not exceed 8
printed pages [approximately 16 double spaced A4 pages plus almost 14 illustrations]. The required format for
the final version of the accepted papers may be obtained at ijeee.iust.ac.ir.

4 Illustrations
Illustrations enclosed when a paper is first submitted need not be suitable for reproduction, but they must
be clearforthe purpose of review. Asmuchtext aspossible shouldbe removedfrom illustrations,and any
background line in graphs not be obscured.

5 References
Other publications referred to in the text should be indicated by a number. Details of the references should
be given in a list at the end of the paper in order of citation. Each reference should include:

(a) Namesofalltheauthors(i.e.not'etal.'),
(b) Titleofthepaper,
(c) Fulltitleofthejournal,
(d) Yearofpublicationandvolumenumber,
(e) Firstandlastpagenumbers.
Forabook,theauthor,booktitle,publisherandyearofthepublicationshouldbestated.

6 Submission
 Authors are invited to submit the files of their manuscript via IJEEE on-line submission at ijeee.iust.ac.ir.A
signedcopyright transfer agreement andoriginalitystatement,downloadedat ijeee.iust.ac.ir, are needed. All
submission and further tracking of submitted papers should be done through ijeee.iust.ac.ir.