2010 7th International Multi-Conference on Systems, Signals and Devices

Sensorless Speed and Flux Control Scheme for an Induction Motor with an
Adaptive Backstepping Observer
Ramzi Trabelsi, Adel Kheder, Med Faouzi Mimouni,Faouzi M'sahli
Monastir Engineering School
Ibn Eljazzar city, 5019 , Monastir Tunisia
E-Mails:trabelsi.ramzi@yahoo.fr.adel_kheder@yahoo.fr.MFaouzi.Mimouni@enim.mu.tn. faouzi.msahli@enim.mu.tn

ABSTRACT

This paper deals with the synthesis of an adaptive

nonlinear backstepping-observer for sensorless speed and
flux backstepping control of Induction Motor (lM) drive
with online rotor resistance adaptation, The backstepping
control purpose is based on stability analysis established
from Lyapunov theory, This approach takes system
nonlinearities into account in the control system design
stage, Controlled rotor flux and speed are given from an
adaptive backstepping observer, The effectiveness of this
strategy has been successfully verified through computer
simulations in terms of the reference tracking ability and
the robustness against parameters variation,
Index Terms-Induction motor, Backstepping control,
Lyapunov stability, backstepping-observer , sensorless control.

1,

INTRODUCTION

Induction motor (lM) compared to other electric

machines, are used in a wide range of industrial
application, due to its excellent reliability, great
robustness and less maintenance, However, the control of
the induction motor is complex because the dynamics
model of the machine is nonlinear, multivariable, highly
coupled and many state variables are not easily
measurable and they are dependent on the machine
parameters variations [14],
The conventional linear control of 1M can't keep the
system transient stability in the situation where operation
condition and parameters change with temperature and
magnetic saturation [1], It was shown in the literature that
the nonlinear multivariable dynamic model of the 1M can
be exactly linearized by using nonlinear precompensation
so that linear control theory can be used while preserving
the nonlinear nature of systems, However, this technique
requires the exact model of the system and cancels useful
nonlinearities,
One of the most significant developpement in this area
has been the filed oriented control proposed by Blaschke
[4], However, this strategy is very sensitive to parameters
variation. When the machine parameters change with
temperature and magnetic saturation, the performance of
the system will be deteriorated. To improve filed oriented
control, many modified nonlinear state feedback schemes
have been proposed such as, sliding mode control, input
output linearization control, passivity based control,
flatness-control, direct torque control, nonlinear
predictive control and backstepping control.
The advances in nonlinear control theory have caused a
978-1-4244-7534-6/10/$26,00 mOl 0 IEEE

notable impact on the control of induction motor [2],

Backstepping technique as a powerful tool is applied to
nonlinear control to preserve the useful nonlinearities
[12]. This technique is more suitable for the situation
whene the system model has unknown parameters.
In the last two decades, the backstepping technique has
been widely studied and developed for the control and
state estimation problems since the studies of
Kanellakopoulos, Kokotovic and Morse [8], This control
technique allows a good steady state and good dynamic
behaviour in the presence of system parameters variation
and disturbances [3], [14-15], Several backstepping
control methods have been presented to induction motor
drives.
In [15] the nonlinear adaptive backstepping
control is designed to compensate the unknown system
parameters and disturbances. In [3] a new adaptive
backstepping controller that achieves global asymptotic
rotor speed tracking for the full-order, nonlinear model of
an induction motor despite the uncertainty in rotor
resistance and time-varying load torque conditions. In
[14] a robust adaptive backstepping controller for
efficiency optimization of 1M with uncertainties is
designed. The backstepping control is applied to
induction motor drive with good trajectories tracking
performance for [2], [6-7], However, the performance
accuracy is affected by load torque and the machine
parameters uncertainties. To overcome this problem, a
rotor resistance estimation technique is give in this paper
to compensate the unknown variations, the major
contribution of this paper consists on the rotor resistance
estimation based on the adaptive backstepping observer,
Some researches have proposed various 1M drives with
online rotor resistance or rotor time-constant adaptation
[I], [3] and [5-7] to produce better control performance,
such as a sliding mode observer, a model reference
adaptive system and Luenberger observer,
In this paper, a new adaptive backstepping observer is
developed for the simultaneous estimation of the rotor
flux components and of the rotor resistance for an 1M
under the assumption that only the stator currents and the
motor speed are available for measurement. The
controller of 1M is designed based on backstepping
technique. In addition, an adaptive law based on the
Lyapunov stability theory estimates the rotor resistance.
The combination of these two methods represents both a
contribution of this work and a good possibility to
achieve classical control objectives for systems having
unmodeled or parasitic dynamics and parametric
uncertainties.
This paper is organized as follows: Section 2 provides a

2010 7th International Multi-Conference on Systems, Signals and Devices

detailed rotor field oriented 1M dynamic model. Then we

introduced the synthesis of the nonlinear Backstepping
control. In section 4, the Backstepping flux observer
provided with an adaptation of the rotor resistance
variations is treated. The stability study based on
Lyapunov theory is presented in section 5. Simulation
results are illustrated and discussed in section 6.

np
J

1
j,j- kerp,rdsq
I --T,
' - -w r
J

fz= M ar isd -ar ({J rd

(5)

2. ROTOR FIELD ORIENTED 1M DYNAMIC MODEL

and

The equivalent tow-phase model of the symmetrical 1M,

under assumptions of linear magnetic circuits and balanced
operating conditions, is presented in a reference rotating
frame (d-q) [11-12], as
d
dt

3 nM

ke
= -

2 JL r

Is. d=- r ls. d + W,s

l. q +k ar ({Jrd +k o)'({J rq + jJusd

The control objective is to make the 1M output variables

(electrical rotor speed w r and the rotor flux ({Jrd) track a
desired trajectory; this tracking can be achieved through a
backstepping algorithm by finding a direct relation between
1M output and its control input (stator voltages ( usd' usq )).

(1)

Thereafter, one wishes to highlight the robustness of the

observation and the control algorithm at various speed
scenarios according to load torque and the rotor resistance
variations.
3. SPEED AND FLUX BACKSTEPPING CONTROLLER

where the state variables are the stator currents ( isd' s

i q),

The Backstepping control mechanisms for the rotor

angular speed regulation and the flux generation can be
better applied to replace the traditional nonlinear feedback
plus proportional-integral PI control of the field oriented
control technique to ensure better performances. The basic
idea of the Backstepping design is the use of the so-called
"virtual control" to systematically decompose a complex
nonlinear control design problem into simpler and smaller
ones. Backstepping design is divided into various design
steps. In each step we essentially deal with an easier, single
input-single-output design problem, and each step provides
a reference for the next design step. The overall stability
and performance are achieved by a Lyapunov theory for the
whole system [2], [I 1-12]. The synthesis of this control can
be achieved in three successive steps.
if Step 1
In the first step, it is necessary that the system can follow
a given trajectory. It corresponds to make the design of a
controller to ensure a good tracking and regulation. we
defineyc=( w c,({J c ), where wcand ({J c >0 are speed and

the rotor fluxes ( ({Jrd' ({J rq) and the electrical rotor speed w r .
The stator voltages ( usd' usq ) and slip frequency

w,/

/ W, -0),. ) are considered as the control variables.

( w,=
the constants are defined as

2
M
R"= R, +-2- Rr '
Lr

k= jJJ1 ,

2
M
a= I- --,
L,Lr
1

=
r jJR", ar= -.

The electromagnetic torque expressed in terms of the

state variables is given by:
(2)
By considering the rotor vector flux had to direct axis,
the induction motor equations in the synchronously rotating
reference frame are written in the following form:

.!!... W= 1;;.!!...({J rd=12;.!!.s

i.. d= h + jJU,d;
dt

dt

dt

{erpem
{erpm :

.!!.is.. q=h + jJUSq;.!!...Os= w r + ws /

dt

the flux magnitude tracking error

dt

= We- w r
= ({Je- ({Jrd

The sleep angular speed is given by:

isq
w,=
/ M ar ({Jrd

erp

flux reference trajectories. The speed tracking error

(3)

(4)

are defined by:

em

and

(6)

Using Eq. (3) and the derivative of Eq. (6), one obtain:

e 1;

The functions defined in the above Eq.(3) are given by:

- ({Je 12

(7)

However, the tracking performances will be satisfactory if

we choose the first Lyapunov candidate function

em e

VI associated

to the flux and speed errors:

+
Vj=-2-

(8)

Using Eq. (7), the derivative of Eq. (9) is written as follows

2

2010 7 th International Multi-Conference on Systems, Signals and Devices

(20)
In order to make the derivative of the complete Lyapunov
function Eq.(20) be negative definite, the quantities
between parentheses in Eq. (20), are chosen equal to zero.

( 9)

{
{

Therefore, the derivative of the Eq. (8) becomes negative

definite such as:

.
2
2
V j=-kjeO)-k2e
With kjand k2are positive parameters.

(10)

To satisfy the conditions mentioned above, it is necessary to

satisfy the following equalities

O)
e =Wc -wr=-kjeO)

Eq.(12) permits to generate these reference currents assured

the Lyapunov stability condition. These currents are given
by:

iii Step 2

In this step, we try to make isd and

{
{ : :
{

s
i q becomes as

desired in the previous step. Let us define other errors

between the currents and their references

eid=(s
i d>C -isd

eiq

==

(S d)C -S d

e1q

l q)c -s
lq
-(s

-s
I q=(Sl q)c -1 4-fJUSq

i 4= Marx2 +m,.X3-arx4
where,

[XI Xz X3

eid=

M ar

(16)

np
.
.
1
eiq=-- ( w c +-7; + - w r +kjeO)-lsq
J
J
kc(fJrd

aL,

v p are

aL,

(27)

a and

the control input to be designed by backstepping

ei=

The derivative of Eq.(18) is given by:

ey,=ex,
eY2 - ex,
_

1[ ]
=

A
Xj- j

Xz -Xz

(28)

and

(19)

(29)

Vz=-kje!-k2e: -kA -kA +ei/kAd +(Sl q)c -1 4-fJusq)

By setting Eq. (15) in Eq. (18), one obtain:

+ e 'q

(26)

as its nominal value.

We define state error equation as follows:

(18)

eId +elq elq

(25)

method. So, all parameters of induction motor will be

considered as constant except rotor resistance. The rotor
resistance Rr is considered as uncertain parameter with Rrn

have appeared in Eq.(16), we can go to the final step. Now,

we define a new Lyapunov function based on the errors of
the speed, the flux and the stator currents

or

aL,

where Xi is the estimation of Xi for iE {1, 2, 3, 4 } .

(17)

Since the real inputs commands of the machine ( usd ' usq )

'P

J'

Mf.1L1ar
R
A _A_
R
=
=_A_ +
= r + i1r
r

iiil Step 3

Vz=eO)O)
e +eId
e +e

x4r=[ isa

and

( (Pc +ar(fJrd + kze) -isd

(24)

( p (fJra (fJr p
Rr Mr A
A
A
A
=-+-, R A = Rs + M ilar
ar=ar +ilar
Lr
Lr

Setting Eq. (13) in Eq. (14), we obtain:

(22)

i3= MarxI -arx3-WrX4

While substituting Eq. (3) in the derivative of Eq. (14), we

obtain:
eiq=(S
l q)c

U,q=(k3ei +(/,,)c -h)1 fJ

i2=-#2-kWrX3 +karx4 +fJu,p +v p

(15)

l d)C -}; -fJusd

I d=(s
ie d=(lsd)c -s

U'd=(k4ei +(I, d)C -};)I fJ

ij=-YXj+karx3 +km,.X4 +fJus a +V a

Taking the derivative of Eq. (14), we obtain:

'd

(21)

fJusd -0

The BFO can be constructed as;

(14)

(s
i q)c -s
iq

(lsd>C };

In this section we will propose a new algorithm based

on Backstepping observer under the assumption that only
the stator currents and voltages are available for
measurement. The Backstepping flux observer (BFO) is
based on the error of the stator currents generated from their
measured and estimated values which must be converged
towards zero [1], [5] and [9-10].
We consider the stator currents as the system outputs,
(23)
YI=XI' yz=Xz

(13)

np T.
.
.
1
( Isq)c --- ( W c +- I +1-Wr +kleO)
)
J
J
kJPr d

= h = fJUSq : 0

4. ADAPTIVE BACKSTEPPING OBSERVER

1
(iS d)C=__ ( (Pc +a/Pr d +k2e)

M ar

(S q)c

Where k3and k4 are positive parameters selected to ensure

that the dynamics current converge is faster than those of
the flux and speed.

(12)

kAq

The stator voltages controls are given by:

(11)

e = (Pc - (Prd=-k2e

k3eid

where ei and e""

(k4e'q +(lsd)C -}; -fJusd)

the stator current and the rotor flux

observer errors, respectively.

3

2010 7th International Multi-Conference on Systems, Signals and Devices

)
(
To design the observer and parameter updating laws, one
- r ex, +k ( (-mr ex, +ar ex,) -Limx3 +Liar (MX2-X4) ) -vp can define the following Lyapunov candidate.

Using Eqs.(23), (24), (29) and (29), the dynamical

equations for the prediction errors are

ex

xe ,

5. ADAPTIVE LAW OF ROTOR AND STATOR RESISTANCES AND

STABILITY ANALYSIS

r ex +k (a r ex +0),. ex,) +LimX4 +Liar (MXj-X3) -va

=-

Ve

xe , = (-0),. ex, +ar ex) +Limx3 +Liar (MX2-x4)

stabilizing functions

( Ye , Ye
a

Ye

), where

and

Ye

xe a
xe p

ex,

ZP

ev, -Yea

Yea
Y

Cp

__

: ev] +A, exa

.2

zp

{Va

+
+

where

--

Va

(41)

((arex; mrex) L1mX4 L1ar(Mxj -Xl)) - ex]

k ((-mrex, arex) -L1mX
1 L1ar(Mx2 - x4)) - ex,
+

vf3 +

(35)
and selecting following control inputs

vp

(39)

x3 ex
x4 ex,
dMr
= (jr (kJiZj3X2 +--' -Jixj ex +
-Jix2 ex'
3
dt
Lr
Lr
(40)
k
k
--zax3 +kJizaXj --zj3X4 )
Lr
Lr

Using Eqs.(29) and (30), we can compute the derivative of

Eq.(35)

-rex]
-rex,

Lr

(34)

zp -ev +A, exp

x3 ex

_ __

___

__

In this step, setting the Eq.(33) in Eq.(32), we can find the

expression of the tracking errors za and zp

Za

which leads to write the mechanism of adaptation of the

rotor resistance and rotor speed are follows:

iii Step 2

{
lza

Lr

1 dLim
LimC np k (qJrj3 -qJra) +---) = 0
(j{j) dt

(33)

'
:l eXp

x3 ex

_ __

--

k
k
Mr(-zax3 -kJizaxj +-zj3x4 -kJizj3X2
Lr
Lr
x4 ex
1 dLiRr
4 Jix ex
=0
+Jixj ex
1 Lr + 2 4 + (jr dt )
a nd

(32)

-A, exa

- _

v;, along the dynamics of Eqs.(30),

So that the Lypu nov function is defined positive and its

derivative definite negative it is necessary that:

Knowing that the observer's dynamics is based on the

exponential convergence, we can impose the variations of
the reference trajectories for virtual variables as follows
=

(38)

eV2 -Yep

xf3

2 M
;
2
2
2
2 Lim
+Za +Zj3 +ex +ex +-- +-1 4 (j(j) (jr

1 dLim
LimC np k (qJrj3 -qJra) +---)
(j{j) dt

prediction currents errors ey, ' eY, , by

Za

--

and we define the tracking errors za and Zp of the tracking

Xu

+e

k
k
+LiRr(-zax3 -kJiZaxj +-zj3x4 -kJizj3X2
Lr
Lr
x4 eX
1 dMr
4 +Jix2 ex ++JiXj ex )+
4 (jr dt
3
Lr

(31)

eX2

==

(34) and (37), can be expressed as:

reference trajectories for virtual variables.

A coordinate transformation is introduced for the system,
then we choose the integral of the currents prediction errors
exa,exp as follows

gain. The derivative of

are

(37)
Where (jr and (j{j) are positive design constant of adaptive

where /).0) 0) 6J
(30)
In order to solve the tracking problem, and to overcome the
difficulties that arise due to the unavailability of one of the
state variables for measurement [11-12], a nonlinear
tracking controller is proposed using the observer based
backstepping algorithm.
if Step 1
The first step in the backstepping observer, is to design a
stable controller for the integral of the prediction errors
ev,,ev, using ex, '
ex, as virtual control variables with
=

=-

k (ar ex +O)r ex +Limx4) +A, ex +za +exa

k (-mr ex +ar ex -Limx3) +A, ex +Zp +exfJ

14 and

We present in this section the simulation results of the

proposed control strategy applied to the two horse power
squirrel cage

1M.

The characteristics of the

1M

are

summarised in table l. The parameters k p kz' k3and k4 of

6. SIMULATION RESULTS

the

backstepping

control

are

chosen

kj = 600, kz = 200, k3 =1 000, k4 =1000. The

(36)
are positive design constants that

as

follows:
developed

control law supposes that only the stator currents and the

determine the closed loop dynamics.

4

2010 7th International Multi-Conference on Systems, Signals and Devices

stator voltages are available. The block diagram of the

show the improvement of the performances of the proposed

control system is given by Figure 1.

control brought by the online rotor resistance adaptation.

We have made some scenarios of functioning in order to

These results show that the backstepping control with the

characterise and improve the performances of the control

proposed observer can track the reference control accurately

structure.

and quickly at high and low speeds. For the proposed

control algorithm with online rotor resistance adapter, we
have recorded a good response for the rotor speed. These
results prove that the speed tracking is quite good and that
the rotor field is always well-oriented.
e : nducfIOn
Ta bill

aft
To

dq

L--===1

Adaptive B"'kstepping
Obsetver

five parame ers

motor d
Kw

Nominal power

1.5

Nominal Voltage

230/400 V

Nominal current

3.2/5.5 A

Stator resistance

5.717

Rotor resistance

4.282

Stator inductance

0464

Rotor inductance

0464

Mutual inductance

04417 H

Number of pole pairs

Moment of inertia

0.0049 Kg.m2

Viscous friction coefficient

0.0029 N.m.s/rad

Figure1: Block diagram of the designed drive system.

1)

7. CONCLUSION

first scenario consists to test the tracking speed of the

In this paper, we have developed a sensorless control

machine by considering the nominal conditions without

around the Backstepping structure for induction motor drive

parameters variations. The reference speed trajectory is

by using both Backtepping strategy and Lyapunov stability

chosen as trapezoidal form. The machine signals responses

theory. The proposed structure consists in the Backtepping

are illustrated by figure2.

3)

rotor speed and rotor flux observer associated to online

second scenario consists to test the sensitivity of the

adaptive rotor resistance estimation. This control carries out

system performances to change on the rotor resistance with

asymptotically the output variables process towards a

adaptation and load torque at high/low speed. We introduce,

reference model established starting from the desired

at the time t=0.5s, a load torque equal to 4 N.m and

performances for the closed loop system. The study of the

respectively at t=1s and t=3s we have introduced an

used observer confirms its robustness in terms of the

increase of rotor resistance equal to 50% and 100%,

parametric variations

respectivly. The corresponding results are illustrated by

The

insertion of an adaptive mechanism of rotor resistance

figures 3 to 6.

consolidates of advantage the robustness characters of the

It is clear from fig.2(a) that the proposed approach based

1M

and external disturbances.

system. The obtained results show that the Backstepping

drive system can follow the reference speed without any

nonlinear control with a Backtepping observer is robust

overshoot and steady-state error. Fig.2(c) presents the

with respect to parametric disturbances.

reference, real and observer magnitude rotor flux. The rotor

flux reference is kept at its rated value of 0.9 Wb. These
results prove that the speed tracking is quite good and that
the rotor field is always well-oriented. By fig.3 and fig.4,
we present a whole of the comparative recordings which
5

2010 7th International Multi-Conference on Systems, Signals and Devices

zoom around 0
g

i 'i
i

'E

i"t

35
. r
3-

25
2

1.5-

L
.r---"'__-'

,
,,)

o--7-7-7-7---,----
(b)

----- Refe.enee
Observe.

----------
oL- --
,
,<)
Tome(s)

10 L- -- ------------'
0
,
T,me(s)
(d)

Figure 2. Sensitivity of the system performances to change in the reference speed; (a) reference, real and estimated rotor speed; (b) real and observed magnitude
stator current; (c) reference,real and observed magnitude rotor flux (d) electromagnetic and load torque.

----------- ---------

I II
-------- I /
------------ ---- ----------/
1 1 T-------J

J . : i
!
il!

, tP
I J
1 I : ; ; j
ii

-2 0

(a)

04eo

_____________

(b)

__

(c)

(<

0
0'

--

(d)

(f')

(g)

(h)

(I)

-0.6

(j)

Figure 3. Sensitivity of the system performances to change on the rotor resistance with on-line adaptation and load torque at high speed; (a) Load torque; (b)
Actual and reference speed; (c) Reference signal of Rr; (d) Estimated and reference speed; (e) Motor and load torque; (f) Rotor speed error; (g) Observer
magnitude stator current; (h) Observer magnitude rotor flux; (i) Observer current error; (j) Observer flux error.

2010 7th International Multi-Conference on Systems, Signals and Devices

hC--
I J
:

i;
I

j I

i;:==
::::= ==

__
_______ __ ___ __ __

(a)

--------.,

.1...__________ __

r----.

r---------------------

-20

I :E

(0)

'

1
I :I:-f-.---1----1
o

(g)

(i)

(b)

50.2
50
49.8

UL---c-----=--::--:;---;

(d)

I :

--

. -------------- -- --------

-------,

(0)

---------- --------

. - .,- --

()

(h)

(j)

.<:I

J
1

Figure 4. Sensitivity of the system performances to change on the rotor resistance with on-line adaptation and load torque at low speed; (a) Load torque; (b)
Actual and reference speed; (c) Reference signal of Rr; (d) Estimated and reference speed; (e) Motor and load torque; (f) Rotor speed error; (g) Observer
magnitude stator current; (h) Observer magnitude rotor flux; (i) Observer current error; (j) Observer flux error.

[8]

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[I]

[2]

[3]

[4]

[5]

[6]

[7]

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