International Journal of Power Electronics and Drive Systems (IJPEDS)

Vol. 13, No. 1, March 2022, pp. 340~347

ISSN: 2088-8694, DOI: 10.11591/ijpeds.v13.i1.pp340-347  340

Robust control technique in power converter with linear

induction motor

Nicolás Toro García1, Yeison Alberto Garcés-Gomez2, Vladimir Henao-Cespedes2

1
Department of Electric and Electronics Engineering, Faculty of Engineering and Architecture, Universidad Nacional de Colombia,
Manizales, Colombia
2
Natural Sciences and Mathematics Academic Unit, Faculty of Engineering and Architecture, Universidad Católica de Manizales,
Manizales, Colombia

Article Info ABSTRACT

Article history: Induction motors are widely used in industrial applications as actuators,
thanks to their simplicity of construction, which is subsequently reflected in
Received Jul 6, 2021 low-cost maintenance. This paper shows the behavior of a three-phase power
Revised Jan 18, 2022 converter with a linear induction motor (LIM) as load, using a quasi-sliding
Accepted Jan 25, 2022 control technique for output voltage regulation and a new control technique
to control chaos. Digital pulse width modulation (DPWM) techniques are
widely used to control electronic power converters. The controller proposed
Keywords: in this paper was designed using zero average dynamic (ZAD) and fixed
point inducting control (FPIC) techniques. The ZAD-FPIC control strategy
Control technique was designed and applied to a three-phase converter with linear induction
Fixed point inducting motor load. Since it is not possible to measure the secondary currents, a
Linear induction motor secondary current observer was included in the system. Finally, bifurcation
Modeling diagrams are shown as a technique for tuning controller parameters in ZAD-
Zero average dynamic FPIC controllers. For the illustration of numerical results a simulation of the
linear induction motor drive controlled was made by MATLAB/Simulink.
The designs were tested in a rapid control prototyping (RCP) system based
on digital signal processing (DSP) for dSPACE platform, using the 1103
controller card and control desk interface.
This is an open access article under the CC BY-SA license.

Corresponding Author:
Yeison Alberto Garcés Gómez
Academic Training Unit in Natural Sciences and Mathematics, Universidad Católica de Manizales
Cra 23 No 60-63, Manizales, Caldas, Colombia
Email: [email protected]

1. INTRODUCTION
Essentially there are two types of asynchronous motors: the rotary induction motor (RIM) and linear
induction motor (LIM). These are widely used in industrial applications as actuators, thanks to their
simplicity of construction, which is subsequently reflected in low-cost maintenance [1], [2]. When the
topological characteristics of an asynchronous motor, as in the case of developing the LIM from a rotating
electrical machine, its operating conditions and design criteria differ, as has been presented in
previous publications [3]–[7].
This paper shows the behavior of a three-phase power converter with a LIM motor as load, using a
quasi-sliding control technique for output voltage regulation and a new control technique to control chaos.
The controller was designed using the following techniques: zero average dynamic (ZAD) and fixed point
inducting control (FPIC) [8]–[17]. The designs were tested in a rapid control prototyping (RCP) system based
on digital signal processing (DSP) for dSPACE platform.

Journal homepage: http://ijpeds.iaescore.com

Int J Pow Elec & Dri Syst ISSN: 2088-8694  341

Power converters have special interest since it is estimated that 90% of the electrical energy is
processed by these devices before end use [18] and additionally this interest has been increased thanks to the
use of removable energy sources [19], [20], using power electronics for the efficient transformation and
rational use of electricity from generation sources to industrial and commercial use. Power converters must
provide a certain output voltage level, either in regulating or tracking tasks, and be able to accept load
changes and variations in the primary supply voltage level. Mohan et al. [21], [22] present a complete and
detailed analysis on the operation and configuration of different power converters. By using switching
devices that generate a desired output with low power consumption, it is possible to obtain one of the most
desirable qualities of power converters and that is efficiency in performance.
On the other hand, the digital pulse-width modulation technique (DPWM) is widely used to control
electronic power converters [23], [24], thanks to advantages such as: low power consumption, immunity to
variations of analog components, potentially faster design process, lower sensitivity to parameter variations,
programmability, reduction or elimination of external passive components, calibration or protection algorithms,
ability to interface with digital systems, possibility to implement nonlinear control techniques, and advanced
control algorithms, such as parameter estimation, are much easier to implement, as mentioned in [25]–[27].

2. RESEARCH METHOD
2.1. Proposed system
The proposed controller designed in this paper combines the strategies of zero averaging dynamics
(ZAD) and fixed point induction controller (FPIC), presented in [8]–[15]. The design corresponds to the load
of a linear induction motor with three-phase low power inverter (1500 W) which uses a dSPACE platform.
The system is divided into hardware and software. In software, the control and signal acquisition techniques
were implemented. The hardware is composed of a three-phase converter with a linear induction motor LIM
motor as load with a rated power of 1500 W, rated voltage of 600 VDC and rated current of 20 ADC. To
obtain the measurements of 𝑣𝑐 a series resistor was used and for the measurement of 𝑖𝐿 the current sensor
HX10P/SP2 was used. The converter switches were driven by PWM outputs of the controller card, these
signals are coupled via fast optocouplers (6N137). The controllers were implemented in simulink and
downloaded to a DPS.

2.2. Mathematical model

The system implemented for the switched-mode power converter and the linear induction motor
LIM coupled system that takes into account the end effects [4], is shown in the Figure 1. To perform a time
domain analysis of such a system, it is usually assumed that magnetic saturation, hysteresis and eddy current
effects are negligible, yielding in (1) that is the state space model, detailed in (2).

𝑥̇ = A(𝑥)x + BU + D (1)

Figure 1. Electric circuit for the converter-motor system

Robust control technique in power converter with linear induction motor (Nicolás Toro García)
342  ISSN: 2088-8694

𝑖˙𝐿𝑎 𝑎11𝑎 𝑎12𝑎 0 0 0 0 0 0 0 0 0 0 0

𝑖𝐿𝑎
𝑣˙𝑐𝑎 𝑎 21𝑎 0 𝑎23𝑎 0 0 0 0 0 0 0 0 0 0
𝑣𝑐𝑎
𝑖˙𝑠𝑎 0 𝑎32𝑎 𝑎33𝑎 𝑎34𝑎 0 0 0 0 0 0 0 0 0
𝑖𝑠𝑎
𝑖𝑟𝑎 0 𝑎42𝑎 𝑎43𝑎 𝑎44𝑎 0 0 0 0 0 0 0 0 0
𝑖𝑟𝑎
𝑖𝐿𝑏 0 0 0 0 𝑎11𝑏 𝑎12𝑏 0 0 0 0 0 0 0
𝑖𝐿𝑏
𝑣˙𝑐𝑏 0 0 0 0 𝑎21𝑏 0 𝑎23𝑏 0 0 0 0 0 0 𝑣𝑐𝑏
𝑖˙𝑠𝑏 = 0 0 0 0 0 𝑎32𝑏 𝑎33𝑏 𝑎34𝑏 0 0 0 0 0 𝑖𝑠𝑏
𝑖˙𝑟𝑏 0 0 0 0 0 𝑎42𝑏 𝑎43𝑏 𝑎44𝑏 0 0 0 0 0 𝑖𝑟𝑏
𝑖˙𝐿𝑐 0 0 0 0 0 0 0 0 𝑎11𝑐 𝑎12𝑐 0 0 0 𝑖𝐿𝑐
𝑣˙𝑐𝑐 0 0 0 0 0 0 0 0 𝑎21𝑐 0 𝑎23𝑐 0 0 𝑣𝑐𝑐
𝑖𝑠𝑐 0 0 0 0 0 0 0 0 0 𝑎32𝑐 𝑎33𝑐 𝑎34𝑐 0 𝑖𝑠𝑐
𝑖𝑟𝑐 0 0 0 0 0 0 0 0 0 𝑎42𝑐 𝑎43𝑐 𝑎44𝑐 0 𝑖𝑟𝑐
[ 𝑣˙𝑚 ] [ 0 0 0 𝑎51 0 0 0 𝑎52 0 0 0 𝑎53
𝐵
− ] [ 𝑣𝑚 ] (2)
𝑀
𝐸
0 0 0
𝐿𝑎
0 0 0 0
0 0 0 0
0 0 0 0
𝐸 0
0 0
𝐿𝑏 𝑆1 − 𝑆4 0
+ 0 0 0 [𝑆2 − 𝑆5 ] + 0
0 0 0 𝑆3 − 𝑆6 0
0 0 0 0
𝐸
0 0 0
𝐿𝑐
0 0 0 0
𝐹𝐿
0 0 0 [− ]𝑀
[0 0 0]

The system is made up of 3 subsystems where each phase can be treated independently. The model
per phase, considering 𝐹𝐿 = 0 (in 1), can be seen in the (3),
𝐸
𝑖˙𝐿 𝑎11 𝑎12 0 0 𝑖𝐿
𝐿
𝑣˙𝑐 𝑎21 0 𝑎23 0 𝑣𝑐
[ ]=[ ] [ ] + 0 𝑈𝑐 (3)
𝑖˙𝑠 0 𝑎32 𝑎33 𝑎34 𝑖𝑠 0
𝑖𝑟 0 𝑎42 𝑎43 𝑎44 𝑖𝑟 [ 0]

with 𝑈𝑐 = −1,1 according to switch control.

Where:
𝑟𝑠 + 𝑟𝐿
𝑎11 = −
𝐿
1
𝑎12 =−
𝐿
1
𝑎21 =
𝐶
1
𝑎23 =−
𝐶
𝐿𝑚 (1 − 𝑓(𝑄)) + 𝐿𝑙𝑟
𝑎32 =
𝐿𝑙𝑠 𝐿𝑚 (1 − 𝑓(𝑄)) + 𝐿𝑙𝑟 𝐿𝑚 (1 − 𝑓(𝑄)) + 𝐿𝑙𝑟 𝐿𝑙𝑠

𝑅𝑠 (𝐿𝑚 (1 − 𝑓(𝑄)) + 𝐿𝑙𝑟 ) + 𝑅𝑟 𝑓(𝑄)𝐿𝑙𝑟

𝑎33 = −
𝐿𝑙𝑠 𝐿𝑚 (1 − 𝑓(𝑄)) + 𝐿𝑙𝑟 𝐿𝑚 (1 − 𝑓(𝑄)) + 𝐿𝑙𝑟 𝐿𝑙𝑠

𝑅𝑟 𝐿𝑚 (1 − 𝑓(𝑄)) + 𝑠𝐿𝑙𝑟 𝑅𝑟 𝑓(𝑄)

𝑎34 = −
𝑠(𝐿𝑙𝑠 𝐿𝑚 (1 − 𝑓(𝑄)) + 𝐿𝑙𝑟 𝐿𝑚 (1 − 𝑓(𝑄)) + 𝐿𝑙𝑟 𝐿𝑙𝑠 )

𝐿𝑚 (1 − 𝑓(𝑄))
𝑎42 =
𝐿𝑙𝑠 𝐿𝑚 (1 − 𝑓(𝑄)) + 𝐿𝑙𝑟 𝐿𝑚 (1 − 𝑓(𝑄)) + 𝐿𝑙𝑟 𝐿𝑙𝑠

𝑅𝑠 𝐿𝑚 (1 − 𝑓(𝑄)) + 𝑅𝑟 𝑓(𝑄)𝐿𝑙𝑠
𝑎43 = −
𝐿𝑙𝑠 𝐿𝑚 (1 − 𝑓(𝑄)) + 𝐿𝑙𝑟 𝐿𝑚 (1 − 𝑓(𝑄)) + 𝐿𝑙𝑟 𝐿𝑙𝑠

Int J Pow Elec & Dri Syst, Vol. 13, No. 1, March 2022: 340-347
Int J Pow Elec & Dri Syst ISSN: 2088-8694  343

𝑅𝑟 (𝐿𝑚 (1 − 𝑓(𝑄)) + 𝐿𝑙𝑠 + 𝑠𝑓(𝑄)𝐿𝑙𝑠 )

𝑎44 = −
𝑠(𝐿𝑙𝑠 𝐿𝑚 (1 − 𝑓(𝑄)) + 𝐿𝑙𝑟 𝐿𝑚 (1 − 𝑓(𝑄)) + 𝐿𝑙𝑟 𝐿𝑙𝑠 )

s = (𝑣𝑠 − 𝑣𝑚 )/𝑣𝑠 ,

s is the motor slip, 𝑣𝑚 is the mover speed and 𝑣𝑠 is the synchronous speed. The mechanical equation is given
by (4).

𝑖𝑟2𝑎 𝑅𝑟𝑎 𝑖𝑟2𝑏 𝑅𝑟𝑏 𝑖𝑟2𝑐 𝑅𝑟𝑐 𝐵 𝐹𝐿

𝑣𝑚̇ = + + − 𝑣 − (4)
𝑀𝑠𝑣𝑠 𝑀𝑠𝑣𝑠 𝑀𝑠𝑤𝑠 𝑀 𝑚 𝑀

Then:
𝑖𝑟𝑎 𝑅𝑟𝑎
𝑎51 =
𝑀𝑠𝑣𝑠
𝑖𝑟𝑏 𝑅𝑟𝑏
𝑎52 =
𝑀𝑠𝑣𝑠
𝑖𝑟𝑐 𝑅𝑟𝑐
𝑎53 =
𝑀𝑠𝑤𝑠

2.3. ZAD-FPIC control strategy

The ZAD-FPIC control strategy was applied by equivalent phase circuit for the linear induction
motor LIM. In the case of a three-phase system, the control must be applied independently in each phase,
taking into account that the reference voltage will be shifted according to the phase of the corresponding
circuit. Since the mechanical dynamics is very slow compared to the electrical dynamics, the motor speed is
considered constant in each sample period.
In order to apply the linear induction motor and fixed point inducting control ZAD-FPIC control
strategy, it was necessary to obtain the secondary current in the equivalent circuit of each phase, which is the
current through 𝐿𝑙𝑟 in Figure 1. The original secondary current equation can be used directly as the observer
equation. The implementation of such a current observer is the on-line simulation of a controlled linear
induction motor. This observer is stable with the convergence rate depending on the secondary time constant,
in this case the dynamic observer equation is given by (5).

𝑑𝑖ˆ𝑟 𝐿𝑚 (1−𝑓(𝑄))
= 𝑣
𝑑𝑡 𝐿𝑙𝑠 𝐿𝑚 (1−𝑓(𝑄))+𝐿𝑙𝑟 𝐿𝑚 (1−𝑓(𝑄))+𝐿𝑙𝑟 𝐿𝑙𝑠 𝑐
𝑅𝑠 𝐿𝑚 (1−𝑓(𝑄))+𝑅𝑟 𝑓(𝑄)𝐿𝑙𝑠
− 𝑖 (5)
𝐿𝑙𝑠 𝐿𝑚 (1−𝑓(𝑄))+𝐿𝑙𝑟 𝐿𝑚 (1−𝑓(𝑄))+𝐿𝑙𝑟 𝐿𝑙𝑠 𝑠
𝑅𝑟 (𝐿𝑚 (1−𝑓(𝑄))+𝐿𝑙𝑠 +𝑠𝑓(𝑄)𝐿𝑙𝑠 )
− 𝑖ˆ
𝑠(𝐿𝑙𝑠 𝐿𝑚 (1−𝑓(𝑄))+𝐿𝑙𝑟 𝐿𝑚 (1−𝑓(𝑄))+𝐿𝑙𝑟 𝐿𝑙𝑠 ) 𝑟

Where 𝑠 = (𝑣𝑠 − 𝑣𝑚 )⁄𝑣𝑠 and 𝑖̂𝑟 is the estimate of the per phase secondary current and the error is calculated
as 𝑖̃𝑟 = 𝑖̂𝑟 − 𝑖𝑟 , obtaining the following error dynamic:

𝑑𝑖̃𝑟 𝑅𝑟 (𝐿𝑚 (1−𝑓(𝑄))+𝐿𝑙𝑠 +𝑠𝑓(𝑄)𝐿𝑙𝑠 )

=− 𝑖̃ (6)
𝑑𝑡 𝑠(𝐿𝑙𝑠 𝐿𝑚(1−𝑓(𝑄))+𝐿𝑙𝑟𝐿𝑚 (1−𝑓(𝑄))+𝐿𝑙𝑟 𝐿𝑙𝑠 ) 𝑟

A Lyapunov function is selected as:

1
𝑉 = 𝑖̃2𝑟 > 0
2

And calculate the time derivative of V along the solution of (6) to yield,

𝑅𝑟 (𝐿𝑚 (1−𝑓(𝑄))+𝐿𝑙𝑠 +𝑠𝑓(𝑄)𝐿𝑙𝑠 )

𝑉̇ = − 𝑖̃2 <0 (7)
𝑠(𝐿𝑙𝑠 𝐿𝑚 (1−𝑓(𝑄))+𝐿𝑙𝑟 𝐿𝑚 (1−𝑓(𝑄))+𝐿𝑙𝑟 𝐿𝑙𝑠 ) 𝑟

This means that if we simply integrate in (5), the mismatch between the real and estimated secondary current
tends to zero asymptotically. The rate of convergence may be improved if properly designed observer gain is
introduced.

Robust control technique in power converter with linear induction motor (Nicolás Toro García)
344  ISSN: 2088-8694

3. RESULTS AND DISCUSSIONS

Figure 2 shows the simulation results of the secondary currents observer (5). To show the convergence
process, select as initial conditions the observed currents 𝑖𝑟̂𝑎 = 𝑖̂
𝑟𝑏 = 𝑖̂
𝑟𝑐 = 3𝐴, and the real secondary currents
𝑖𝑟𝑎 = 𝑖𝑟𝑏 = 𝑖𝑟𝑐 = 0𝐴. Since the observer is just on-line simulation of the linear induction motor LIM model, no
observer gain is to be adjusted. The controlled linear induction motor LIM behavior with observed secondary
currents was very close to behavior of controlled system feeding with the real secondary currents in numerical
simulation. For the illustration of numerical results, a simulation of the linear induction motor drive controlled
by zero average dynamic and fixed point inducting control ZAD–FPIC control strategies was made. The motor
model used in simulation was the per phase equivalent circuit as shown in Figure 3.

Figure 2. Response of the secondary current observer

Figure 3. Equivalent circuit model per-phase for simulation

Figure 4 (a) shows the time behavior when the bifurcation parameter 𝐾𝑠 is 0.25. The controlled
voltage has chaotic behavior and has quite difference respect to the reference voltage for phase 𝑎. In
Figure 4 (b) the tracking error of controlled voltage respect to the reference voltage is more low, in this case
the 𝐾𝑠 value is 0.5. Phase portrait for 𝑖𝑎 and 𝑣𝑎 variables shows a one-periodic solution for 𝐾𝑠 = 0.5. When
𝐾𝑠 = 0.25 the qualitative behavior is quite different as shown in Figure 5.

Int J Pow Elec & Dri Syst, Vol. 13, No. 1, March 2022: 340-347
Int J Pow Elec & Dri Syst ISSN: 2088-8694  345

(a) (b)

Figure 4. Time behavior for voltage motor (controlled voltage) of phase 𝑎 for (a) time behavior with KS=0.25
and (b) time behavior with KS=0.5

Figure 5. Phase portrait for 𝑖𝑎 and 𝑣𝑎 variables

Figure 6 (a) shows the time behavior when the bifurcation parameter N is 0.1. The controlled voltage
has chaotic behavior and has quite difference respect to the reference voltage for phase 𝑎. In Figure 6 (b) the
tracking error of controlled voltage respect to the reference voltage is more low, in this case the 𝑁 value is
3.0. Phase portrait for 𝑖𝑎 and 𝑣𝑎 variables shows a one-periodic solution for 𝐾𝑠 = 0.5. When 𝐾𝑠 = 0.25 the
qualitative behaviour is quite different as shown in Figure 7.

(a) (b)

Figure 6. Time behavior for voltage motor (controlled voltage) of phase 𝑎 for (a) time behavior with N= 0.1
and (b) time behavior with N= 3.0

Figure 7. Phase portrait for 𝑖𝑎 and 𝑣𝑎 variables

Robust control technique in power converter with linear induction motor (Nicolás Toro García)
346  ISSN: 2088-8694

4. CONCLUSION
The control strategy zero average dynamic and fixed point inducting control ZAD-FPIC was designed
and applied to three phasic converter with linear induction motor load. Because is not possible to measure the
secondary currents, a secondary current observer was included in the system. For this system, simulations were
performed. The stability of the closed loop system was analyzed using bifurcation diagrams, and stable and
transitions to chaos were observed. Due to limitation in the mover path (1.5 meters), experiments with the
control system were not made. Finally, were shown the bifurcation diagrams like a technique for to adjust
controller parameters in ZAD and fixed point inducting control ZAD–FPIC controllers.

ACKNOWLEDGEMENTS
This work was supported by Universidad Católica de Manizales with the Grupo de Investigación en
Desarrollos Tecnológicos y Ambientales and the Universidad Nacional de Colombia – Sede Manizales. This
research received external funding from “Fondo Nacional de Financiamiento para la Ciencia, la Tecnología,
y la Innovación, Fondo Francisco José de Caldas con contrato No 213-2018 con Código 58960.” Programa
“Colombia Científica”

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BIOGRAPHIES OF AUTHORS

Nicolás Toro García received a B.S. in electrical engineering and Ph.D. in

automatics from Universidad Nacional de Colombia, Manizales in 1983 and 2012, respectively,
as well as an M.S. in production automatic systems from Universidad Tecnológica de Pereira,
Colombia in 2000. He is currently an Associate Professor in the Department of Electrical
Engineering, Electronics, and Computer Science, Universidad Nacional de Colombia, Sede de
Manizales. His research interests include nonlinear control, nonlinear dynamics of nonsmooth
systems, and power electronic converters. He is a member of the reasearch group in power
resources GIRE (Código colombiano de registro: COL0144229), at Universidad Nacional de
Colombia. He can be contacted at email: [email protected].

Yeison Alberto Garcés-Gómez Received bachelor’s degree in Electronic

Engineering, and master’s degrees and PhD in Engineering from Electrical, Electronic and
Computer Engineering Department, Universidad Nacional de Colombia, Manizales, Colombia, in
2009, 2011 and 2015, respectively. He is Full Professor at the Academic Unit for Training in
Natural Sciences and Mathematics, Universidad Católica de Manizales, and teaches several
courses such as Experimental Design, Statistics, and Physics. His main research focus is on
applied technologies, embedded system, power electronics, power quality, but also many other
areas of electronics, signal processing and didactics. He published more than 30 scientific and
research publications, among them more than 10 journal papers. He worked as principal
researcher on commercial projects and projects by the Ministry of Science, Tech and Innovation,
Republic of Colombia. He can be contacted at email: [email protected].

Vladimir Henao Céspedes received the B.S degree in electronic engineering, the
M.Sc. degree and the PhD. On engineering from Universidad Nacional de Colombia, Manizales.
He currently an Associate Professor in the Faculty of Engineering and Architecture,
telecommunications engineering, at the Universidad Católica de Manizales, Manizales. His
research interests include electromagnetic compatibility, electromagnetic pollution, and lightning
discharges. He is member of the Research Group on Tecnhonological and Environmental
Development GIDTA. He can be contacted at email: [email protected].

Robust control technique in power converter with linear induction motor (Nicolás Toro García)