CASCADED VECTOR CONTROL WITH FIELD-ORIENTED CONTROL FOR AC INDUCTION MOTOR POSITION SERVO
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Bayu Adji Nur Sudarisman(1*)
Electrical Eng. And Information Tech Department, Universitas Gadjah Mada (UGM) Yogyakarta
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Adha Imam Cahyadi(2)
Electrical Eng. And Information Tech Department, Universitas Gadjah Mada (UGM) Yogyakarta
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Oyas Wahyunggoro(3)
Electrical Eng. And Information Tech Department, Universitas Gadjah Mada (UGM) Yogyakarta
(*) Corresponding Author
Keywords:
AC induction motor, cascaded control, Field-Oriented Control, position control, Lyapunov stability
Abstract
Precise position control of AC induction motors is essential in various industrial applications, including robotics, machine tools, and automated manufacturing systems. The main challenges arise from the nonlinear dynamics of induction motors and the lack of inherent position feedback. This study proposes a three-tier cascaded control architecture integrating a PD position controller, a PI speed controller, and a Field-Oriented Control (FOC) current loop, with a 1:10:100 bandwidth hierarchy among the loops. This design ensures effective dynamic decoupling and global asymptotic stability, verified through Lyapunov-based analysis, including robustness against rotor parameter uncertainties up to ±20%. Numerical simulations on a 1.5 kW induction motor demonstrate a rise time of 0.157 s, settling time of 0.267 s, overshoot of 9.8%, steady-state position error of 0.0008 rad, and disturbance rejection of a 2 N·m load in 95 ms. FOC implementation maintains rotor flux within ±0.1% and peak efficiency of 91% at rated torque. These results confirm that the proposed cascaded three-tier FOC architecture achieves fast, accurate, and stable position control suitable for industrial servo applications and can be extended to other AC motor types with parameter adjustment and flux control strategies.
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References
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[11] J. C. Doyle, B. A. Francis, and A. R. Tannenbaum, Feedback Control Theory. in Dover Books on Electrical Engineering. Dover Publications, 2013. [Online]. Available: https://books.google.co.id/books?id=zrPDAgAAQBAJ
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[14] J. Rodas, I. Gonzalez-Prieto, Y. Kali, M. Saad, and J. Doval-Gandoy, “Recent Advances in Model Predictive and Sliding Mode Current Control Techniques of Multiphase Induction Machines,” Front. Energy Res., vol. 9, Aug. 2021, doi: 10.3389/fenrg.2021.729034.
[15] S. C. Garcia, L. C. Souza, L. de S. da C. e Silva, and F. J. M. de Seixas, “Robust Proportional–Integral Sliding Mode Control for Induction Motors with Input Time Delay,” Energies, vol. 16, no. 15, p. 5804, Aug. 2023, doi: 10.3390/en16155804.
[16] O. Gulbudak, M. Gokdag, and H. Komurcugil, “Lyapunov-based model predictive control of dual-induction motors fed by a nine-switch inverter to improve the closed-loop stability,” Int. J. Electr. Power Energy Syst., vol. 146, p. 108718, Mar. 2023, doi: 10.1016/j.ijepes.2022.108718.
[17] P. Dorji and B. Subba, “D-Q Mathematical Modelling and Simulation of Three-Phase Induction Motor for Electrical Fault Analysis,” IARJSET, vol. 7, no. 9, pp. 38–46, Sep. 2020, doi: 10.17148/IARJSET.2020.7909.
[18] A. Tikkani et al., “Fuzzy-2 deployment in indirect vector control and hybrid space vector modulation for a two-level inverter fed induction motor drive,” Sci. Rep., vol. 15, no. 1, p. 13379, Apr. 2025, doi: 10.1038/s41598-025-96600-8.
[19] M. Costin and C. Lazar, “Induction Motor Improved Vector Control Using Predictive and Model-Free Algorithms Together with Homotopy-Based Feedback Linearization,” Energies, vol. 17, no. 4, p. 875, Feb. 2024, doi: 10.3390/en17040875.
[20] G. Escobar, R. Ortega, and L. Praly, “A New Lyapunov Function for Field Oriented Control of Induction Motors,” IFAC Proc. Vol., vol. 30, no. 27, pp. 447–449, Oct. 1997, doi: 10.1016/S1474-6670(17)41224-9.
[21] B. Aichi and K. Kendouci, “A Novel Switching Control for Induction Motors Using a Robust Hybrid Controller that Combines Sliding Mode with PI Anti-Windup,” Period. Polytech. Electr. Eng. Comput. Sci., vol. 64, no. 4, pp. 392–405, Oct. 2020, doi: 10.3311/PPee.15661.
[22] S. Mencou, M. Ben Yakhlef, and E. B. Tazi, “Advanced control of induction motors (2019–2025): A comprehensive review of strategies, algorithms and sensorless techniques,” e-Prime - Adv. Electr. Eng. Electron. Energy, vol. 14, p. 101098, Dec. 2025, doi: 10.1016/j.prime.2025.101098.
[23] R. Fauzi, D. C. Happyanto, and I. A. Sulistijono, “Fast Response Three Phase Induction Motor Using Indirect Field Oriented Control (IFOC) Based On Fuzzy-Backstepping,” Emit. Int. J. Eng. Technol., vol. 3, no. 1, Jun. 2015, doi: 10.24003/emitter.v3i1.36.
[2] R. H. Park, “Two-reaction theory of synchronous machines-II,” Trans. Am. Inst. Electr. Eng., vol. 52, no. 2, pp. 352–354, Jun. 1933, doi: 10.1109/T-AIEE.1933.5056309.
[3] W. Leonhard, Control of Electrical Drives. in Power Systems. Springer Berlin Heidelberg, 2001. [Online]. Available: https://books.google.co.id/books?id=pdsF210k5ikC
[4] K. Hasse, Zur Dynamik drehzahlgeregelter Antriebe mit stromrichtergespeisten Asynchron-Kurzschlußläufermaschinen. Technische Hochschule Darmstadt, 1969. [Online]. Available: https://books.google.co.id/books?id=Wh0TAQAAIAAJ
[5] V. T. Ha, N. T. Lam, V. T. Ha, and V. Q. Vinh, “Advanced control structures for induction motors with ideal current loop response using field oriented control,” Int. J. Power Electron. Drive Syst., vol. 10, no. 4, p. 1758, Dec. 2019, doi: 10.11591/ijpeds.v10.i4.pp1758-1771.
[6] F. Wang, Z. Zhang, X. Mei, J. Rodríguez, and R. Kennel, “Advanced Control Strategies of Induction Machine: Field Oriented Control, Direct Torque Control and Model Predictive Control,” Energies, vol. 11, no. 1, p. 120, Jan. 2018, doi: 10.3390/en11010120.
[7] M. W. Spong, S. Hutchinson, and M. Vidyasagar, “Robot Modeling and Control, Second Edition [Bookshelf],” IEEE Control Syst., vol. 42, no. 1, pp. 126–128, Feb. 2022, doi: 10.1109/MCS.2021.3122271.
[8] J. J. Craig, Introduction to Robotics: Mechanics and Control. Pearson Prentice Hall, 2005.
[9] P. Alkorta, O. Barambones, J. Cortajarena, I. Martija, and F. Maseda, “Effective Position Control for a Three-Phase Motor,” Electronics, vol. 9, no. 2, p. 241, Feb. 2020, doi: 10.3390/electronics9020241.
[10] W. A. Silva et al., “Generalized predictive control robust for position control of induction motor using field-oriented control,” Electr. Eng., vol. 97, no. 3, pp. 195–204, Sep. 2015, doi: 10.1007/s00202-014-0326-x.
[11] J. C. Doyle, B. A. Francis, and A. R. Tannenbaum, Feedback Control Theory. in Dover Books on Electrical Engineering. Dover Publications, 2013. [Online]. Available: https://books.google.co.id/books?id=zrPDAgAAQBAJ
[12] J. Doyle, “Robust and optimal control,” in Proceedings of 35th IEEE Conference on Decision and Control, IEEE, 1996, pp. 1595–1598. doi: 10.1109/CDC.1996.572756.
[13] H. K. Khalil, Nonlinear Systems. in Pearson Education. Prentice Hall, 2002. [Online]. Available: https://books.google.co.id/books?id=t_d1QgAACAAJ
[14] J. Rodas, I. Gonzalez-Prieto, Y. Kali, M. Saad, and J. Doval-Gandoy, “Recent Advances in Model Predictive and Sliding Mode Current Control Techniques of Multiphase Induction Machines,” Front. Energy Res., vol. 9, Aug. 2021, doi: 10.3389/fenrg.2021.729034.
[15] S. C. Garcia, L. C. Souza, L. de S. da C. e Silva, and F. J. M. de Seixas, “Robust Proportional–Integral Sliding Mode Control for Induction Motors with Input Time Delay,” Energies, vol. 16, no. 15, p. 5804, Aug. 2023, doi: 10.3390/en16155804.
[16] O. Gulbudak, M. Gokdag, and H. Komurcugil, “Lyapunov-based model predictive control of dual-induction motors fed by a nine-switch inverter to improve the closed-loop stability,” Int. J. Electr. Power Energy Syst., vol. 146, p. 108718, Mar. 2023, doi: 10.1016/j.ijepes.2022.108718.
[17] P. Dorji and B. Subba, “D-Q Mathematical Modelling and Simulation of Three-Phase Induction Motor for Electrical Fault Analysis,” IARJSET, vol. 7, no. 9, pp. 38–46, Sep. 2020, doi: 10.17148/IARJSET.2020.7909.
[18] A. Tikkani et al., “Fuzzy-2 deployment in indirect vector control and hybrid space vector modulation for a two-level inverter fed induction motor drive,” Sci. Rep., vol. 15, no. 1, p. 13379, Apr. 2025, doi: 10.1038/s41598-025-96600-8.
[19] M. Costin and C. Lazar, “Induction Motor Improved Vector Control Using Predictive and Model-Free Algorithms Together with Homotopy-Based Feedback Linearization,” Energies, vol. 17, no. 4, p. 875, Feb. 2024, doi: 10.3390/en17040875.
[20] G. Escobar, R. Ortega, and L. Praly, “A New Lyapunov Function for Field Oriented Control of Induction Motors,” IFAC Proc. Vol., vol. 30, no. 27, pp. 447–449, Oct. 1997, doi: 10.1016/S1474-6670(17)41224-9.
[21] B. Aichi and K. Kendouci, “A Novel Switching Control for Induction Motors Using a Robust Hybrid Controller that Combines Sliding Mode with PI Anti-Windup,” Period. Polytech. Electr. Eng. Comput. Sci., vol. 64, no. 4, pp. 392–405, Oct. 2020, doi: 10.3311/PPee.15661.
[22] S. Mencou, M. Ben Yakhlef, and E. B. Tazi, “Advanced control of induction motors (2019–2025): A comprehensive review of strategies, algorithms and sensorless techniques,” e-Prime - Adv. Electr. Eng. Electron. Energy, vol. 14, p. 101098, Dec. 2025, doi: 10.1016/j.prime.2025.101098.
[23] R. Fauzi, D. C. Happyanto, and I. A. Sulistijono, “Fast Response Three Phase Induction Motor Using Indirect Field Oriented Control (IFOC) Based On Fuzzy-Backstepping,” Emit. Int. J. Eng. Technol., vol. 3, no. 1, Jun. 2015, doi: 10.24003/emitter.v3i1.36.
Published
2026-04-30
How to Cite
[1]
B. Sudarisman, A. Cahyadi, and O. Wahyunggoro, “CASCADED VECTOR CONTROL WITH FIELD-ORIENTED CONTROL FOR AC INDUCTION MOTOR POSITION SERVO”, JME, Apr. 2026.
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Articles
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