VNU Journal of Science: Comp. Science & Com. Eng., Vol. 37, No.

2 (2021) 20-31

Original Article
Back-stepping Control of Switched Reluctance Motor with
Artificial Neural Network based Flux Estimator

Phi Hoang Nha1,2, Pham Hung Phi2, Dao Quang Thuy3, Le Xuan Hai1,
Pham Xuan Dat2, Nguyen Ngoc Linh4,*
1
Ha Noi University of Industry, 298 Cau Dien, Bac Tu Liem, Ha Noi,Vietnam
2
Hanoi University of Science and Technology, 1 Dai Co Viet, Hai Ba Trung, Ha Noi, Vietnam
3
Ministry of Science and Technology, 133 Tran Duy Hung, Cau Giay, Hanoi, Vietnam
4
VNU University of Engineering and Technology, 144 Xuan Thuy, Cau Giay, Hanoi, Vietnam

Received 28 July 2021

Revised 01 October 2021; Accepted 09 October 2021

Abstract: The paper presents a new approach to the speed control of a switched reluctance motors
(SRM) is that using a back-stepping controller combining with an artificial neuron network based
flux estimator. The nonlinear mathematical model of switched reluctance motor (SRM) is
established and the back-stepping control strategy is applied to control SRM. The ANN will be used
to estimate the flux of the motor instead of approximated model or experimental values. The ANN
flux estimator was trained off-line using backpropagation algorithm. The stability of the closed-loop
control system was analyzed and proved according to the Lyapunov stability criteria. The simulation
is carried out with both traditional back-stepping controller and the back-stepping controller
combining with ANN based flux estimator. The numerical simulation results confirmed quality of
the back-stepping controller as well as the feasibility of using ANN in the flux estimator.
Keywords: Switched Reluctance Motor (SRM), Back-stepping Control, Flux Estimator, Artificial
Neural Networks (ANN), Backpropogation Algorithm.

1. Introduction* efficiency, etc. The rotor has no wire allow it

withstand high temperature as well as is suitable
The switched reluctance motors (SRMs) is for extremely high speed application. However,
more and more widely used in variable speed SRM has non-linear characteristic due to
drives thanks to many advantages such as control magnetic saturation, which makes it difficult to
flexibility, simple structure, lower cost and high control its torque [1, 5, 7]. Control of SRM

________
*
Corresponding author.
E-mail address: nlnguyen@vnu.edu.vn
https://doi.org/10.25073/2588-1086/vnucsce.261
20
 P.H. Nha et al. / VNU Journal of Science: Comp. Science & Com. Eng., Vol. 37, No. 2 (2021) 20-31 21

therefore is a challenging problem and depends including armature voltage equation, electro-
much on the mathematic model of SRM. Many magnetic torque equation and mechanical
studies have tried to establish the nonlinear equation (1):
mathematical model of SRMs [1-6, 8, 13-14].  d j
Some mathematical models have been u j = R.i j +
 dt
developed, however, their coefficients are
 W j' (1)
difficult to determine (because depending on the T j ( , i j ) =
 
type of SRM, the size of SRM...[1, 8]. In [5],
 d 2
author introduced a non-linear model of SRM  J 2 = Te − Tl
and did a linearization after that. Besides, one of  dt
the most important components in SRM’s in which j = 1, 2, …, m
model, used in controller design, is the motor’s uj is voltage of phase j
magnetic flux. Some methods have been
proposed to estimate motor’s flux of SRMs R is resistor of phase j
based on the experimental results or using an ij is current of phase j
approximately mathematical model [4, 14] ѱj is flux of phase j
However, these methods usually have Te is torque of phase
difficulties in reality and sometimes can make a
Tl is torque of load
large error. To overcome this drawback, in this
research, we will use an artificial neuron J is moment of inertia
network (ANN) to estimate the flux of SRMs. W j' is the electro-magnetic energy
Accordingly, non-linear model of the which is determined in (2):
switched reluctance motor, which including the ij
phase switch and the dynamics of the SRMs, has W j' ( , i j ) =  j ( , i j )di j (2)
been established and been used to synthesize the 0
back-stepping controller. In this model, motor’s Electrical torque in SRM is a nonlinear
flux will be estimated by ANN based flux function of only current if the magnetic circuit is
estimator instead of using approximate model or linear.
measured data. This ANN is trained offline
The total torque produced is equal to the sum
based on the experimental data and can continue
of the moments in the phases:
automatically be trained in the future.. In order
m
to verify the efficiency and feasibility of Te ( , i1 , i2 ,..., im ) = T j ( , i j ) (3)
proposed method, several simulations are j =1
implemented both for back-stepping control
To control the SRMs, we need to determine
(BTP) with traditional model of SRM and back-
the magnetic flux characteristic ѱj (θ, ij) as
stepping control with the model using the ANN
accurately as possible. For convenience in the
based flux estimator (BTP - ANN flux
process of research and development of control
estimator). Conclusions and some future works
algorithms, the function of magnetic flux
are pointed out in final.
characteristic in [4] will be used:
−i j f j ( )
2. Mathematic Model of the SRMS  j ( , i j ) =  s (1 − e ) (4)

Mathematical model of the m-phase SRMs with j = 1, 2, …, m; ѱs is saturation flux.

is constructed from the basic machine equations
22 P.H. Nha et al. / VNU Journal of Science: Comp. Science & Com. Eng., Vol. 37, No. 2 (2021) 20-31

If we ignore the higher order components in

−1
 Rx4 + ( s e− x4 f2 ( x1 ) ) 
the Fourier series, we have a function fj(θ): x4 =  − s e− x4 f2 ( x1 ) f 2 ( x1 )   f ( x ) 
2
(
 x 2 1 x
 4 x1 2 )  (11)

f j ( ) = a + b sin[ Nr − ( j − 1) ] (5) −1
m +  s e− x4 f2 ( x1 ) f 2 ( x1 )  u2
Nr is number of rotor’s pole.
−1 (
 Rx5 +  s e− x5 f3 ( x1 ) )
Torque of phase j is represented as follows: 
x5 =  − s e − x5 f3 ( x1 )
f3 ( x1 )   f ( x )

T j ( , i j ) =
 s df j ( )
{1 − [1 + i j f j ( )]e
−i j f j ( )
} (6)
(
 x 3 1 x
 5 x1 2 )  (12)

f j2 ( ) d −1
+  s e− x5 f3 ( x1 ) f3 ( x1 )  u3
The state-space model of the SRMs can be
obtained from the following equations: −1 (
 Rx6 +  s e− x6 f4 ( x1 ) )
x6 =  − s e − x6 f 4 ( x1 )
f 4 ( x1 )   f ( x )

 d
(
 x 4 1 x
 6 x1 2 )  (13)

 dt =  −1
+  s e− x6 f4 ( x1 ) f 4 ( x1 )  u4

 d 1  m 
 =  T j ( , i j ) − Tl ( ,  )  (7) where:
 dt J  j =1  fi 2 
 
−1 = bN r cos  N r x1 − ( j − 1)  (14)
 di j   j    j    j  x1  m
 dt = −  i   Ri j +    +  i  u j
  j    j  In (9), we set:
Considering the switched reluctance motor 1   s f1 ( x1 ) 
with m = 4 phases, the state vector is f a ( x) =  2
J  f1 ( x1 ) x1

N r 1 − e− x3 f1 ( x1 )  

x = [ ,, i1 , i2 , i3 , i4 ]T = [x1 , x2 , x3 , x4 , x5 , x6 ]T . The
1   s f1 ( x1 ) 
state-space equations of motor [13]: g a ( x) =  2
J  f1 ( x1 ) x1

Nr − f1 ( x1 )e− x3 f1 ( x1 )  
x1 = x2 (8) 
1   s f 2 ( x1 ) 
x2 =
1 T1 ( , x3 ) + T2 ( , x4 ) + T3 ( , x5 ) 
  f b ( x) =  2 Nr 1 − e− x4 f2 ( x1 ) 
J  +T4 ( , x6 ) − Tl ( x1 , x2 )  J  f 2 ( x1 ) x1 
  s f1 ( x1 ) 

 f 2 ( x ) x N r 1 − [1 + x3 f1 ( x1 )]e
− x3 f1 ( x1 )
 gb ( x) =
1   s f 2 ( x1 ) 
Nr − f 2 ( x1 )e− x4 f2 ( x1 ) 
 1 1   2
J  f 2 ( x1 ) x1
1

  s f 2 ( x1 ) − x4 f 2 ( x1 )  (9)

 + N r1 − [1 + x f ( x )] e 
 f 2 ( x1 ) x1
2 4 2 1
 1   s f3 ( x1 ) 
1   s f 3 ( x1 )
= + 2 
N r 1 − [1 + x5 f 3 ( x1 )]e − x5 f3 ( x1 )


f c ( x) =  2
J  f3 ( x1 ) x1

N r 1 − e− x5 f3 ( x1 )  
J  f 3 ( x1 ) x1
 

  s f ( x )  1   s f3 ( x1 ) 
+ 2 4

 f 4 ( x1 ) x1
1

N r 1 − [1 + x6 f 4 ( x1 )]e − x6 f 4 ( x1 )


 g c ( x) =  2
J  f3 ( x1 ) x1

N r − f3 ( x1 )e− x5 f3 ( x1 )  
 − Bx − mgl sin( x )  
 2 1

1   s f 4 ( x1 ) 
 
f d ( x) =  2
J  f 4 ( x1 ) x1

Nr 1 − e− x6 f4 ( x1 )  
−1 (
 Rx3 +  s e − x3 f1 ( x1 ) ) 
x3 =  − s e − x3 f1 ( x1 ) f1 ( x1 )   f ( x )
(
 x 1 1 x
 3 x1 2)  (10)
 g d ( x) =
1   s f 4 ( x1 )
 2 

Nr − f 4 ( x1 )e− x6 f4 ( x1 )  
−1
J  f 4 ( x1 ) x1 
+  s e− x3 f1 ( x1 ) f1 ( x1 )  u1
 P.H. Nha et al. / VNU Journal of Science: Comp. Science & Com. Eng., Vol. 37, No. 2 (2021) 20-31 23

Equation (9) can be rewritten as follows:  Rx + 

 6 
x2 =  f a ( x) + g a ( x) x3  +  f b ( x) + g b ( x) x4 
( )
−1
pd ( x) =  − s e − x6 f 4 ( x1 )
f 4 ( x1 )   e − x6 f 4 ( x1 ) 

+  f c ( x) + g c ( x) x5  +  f d ( x) + g d ( x) x6  (15)  s 
B mgl (
 6 x1 )
 x f4 ( x1 ) x 
2 
− x2 − sin( x1 ) −1
J J qd ( x) =  s e− x6 f4 ( x1 ) f 4 ( x1 ) 
Differentiating equation (16), we have:
Rewritten equations from (10) to (13) as
x2 =  f a ( x) + g a ( x) x3 + g a ( x) x3  follows:
+  f b ( x) + g b ( x) x4 + g b ( x) x4  x3 = pa ( x ) + qa ( x )u1
x4 = pb ( x) + qb ( x)u2
+  f c ( x) + g c ( x) x5 + g c ( x) x5  (16) (17)
x5 = pc ( x) + qc ( x)u3
+  f d ( x) + g d ( x) x6 + g d ( x) x6  x6 = pd ( x) + qd ( x)u4
B mgl
− x2 − cos( x1 ) x1 Substituting (17) to (16), we have:
J J
 f ( x) + g a ( x) x3 + g a ( x) pa ( x) 
From (11) to (14), we set: x2 =  a 
 Rx   + g a ( x)qa ( x)u1 
 3   f ( x) + gb ( x) x4 + g b ( x) pb ( x) 
( )
−1
pa ( x) =  − s e − x3 f1 ( x1 )
f1 ( x1 )   +  s e− x3 f1 ( x1 )  + b 
   + gb ( x)qb ( x)u2 
(
 3 x1 )
 x f1 ( x1 ) x
2

  f ( x) + g c ( x) x5 + g c ( x) pc ( x) 
−1 + c 
qa ( x) =  s e− x3 f1 ( x1 ) f1 ( x1 )   + g c ( x)qc ( x)u3  (18)
 Rx   f ( x) + g d ( x) x6 + g d ( x) pd ( x) 
 4  + d 
pb ( x) =  − s e− x4 f2 ( x1 ) f 2 ( x1 )   + ( s e − x4 f2 ( x1 ) ) 
−1
 + g d ( x)qd ( x)u4 
 
B mgl
(
 4 x1 )
 x f2 ( x1 ) x 
2 
− x2 −
J J
cos( x1 ) x1
−1
qb ( x) =  s e− x4 f2 ( x1 ) f 2 ( x1 ) The switched reluctance motor works with
the principle of voltage supply for each phase. If
 Rx  the number of phases is 4, we have u j = k j u ,
 5 
( )
−1
f3 ( x1 )   +  s e− x5 f3 ( x1 )  with j=1, 2, 3, 4); kj is a phase transition key, so
pc ( x) =  − s e − x5 f3 ( x1 )
  it can only take 2 values, 0 or 1. Equation (18)
(
 5 x1 )
 x f3 ( x1 ) x
2

 can be represented as follows:
−1
qc ( x) =  s e− x5 f3 ( x1 ) f3 ( x1 ) 
24 P.H. Nha et al. / VNU Journal of Science: Comp. Science & Com. Eng., Vol. 37, No. 2 (2021) 20-31

 f a ( x) + g a ( x) x3 + g a ( x) pa ( x) + f b ( x)  3. Design a Back-Stepping Controller

  Combining with ANN based Flux
 + g ( x) x4 + gb ( x) pb ( x) + f c ( x) + 
x2 =  b + Estimator for SRM
 cg ( x ) x5 + g c ( x ) pc ( x ) + f d ( x ) 
 + g d ( x) x6 + g d ( x) pd ( x)  3.1. The Back-stepping Controller
 g a ( x)qa ( x)k1 + g b ( x)qb ( x)k 2  (19) As mention above, the model of SRM in
 
 + g c ( x)qc ( x)k3 + g d ( x)qd ( x)k 4  (23) is a second order tight backpropagation
−
B
x2 −
mgl
cos( x1 ) x1
type. According to the back-stepping
J J technique, we perform two design steps for
We consider: this system [14][15].
Step 1: Considering the error tracking
 f a ( x) + g a ( x) x3 + g a ( x) pa ( x) + f b ( x) 
  reference velocity zd = d is e1 , we have:
 + gb ( x) x4 + gb ( x) pb ( x) + f c ( x) +  e1 = z1 − zd (24)
F(x)=  
 gc ( x) x5 + g c ( x) pc ( x) + f d ( x) 
 + g d ( x) x6 + g d ( x) pd ( x)  Differentiating e1 over time, we have:

and: e1 = z1 − zd = z2 − zd (25)
 ga ( x)qa ( x)k1 + gb ( x)qb ( x)k2 
G(x)=   Considering e2 = z2 − 1 where 1 is virtual
 + gc ( x)qc ( x)k3 + gd ( x)qd ( x)k4  control signal for the first subsystem.
We have another expression of equation
Substitution to (25), we have:
(19) as follows:
B mgl e1 = z1 − zd = z2 − zd = e2 + 1 − zd
x2 =F(x) + G( x) − x2 − cos( x1 ) x1 (20) (26)
J J
To determine the virtual control signal to
If we set:
ensure e1 → 0 we choose Lyapunov function:
B mgl
f ( x) = F(x) − x2 − cos( x1 ) x1
J J (21) 1
V1 = e12 (27)
g ( x) = G ( x) 2
We have: Differentiating V1 over time, we have:
x2 = f ( x) + g ( x)u (22)
V1 = e1e1 = e1 ( e2 + 1 − zd ) = −c1e12 + e1e2 (28)
Setting x2 = z1 , we have the state model of
the SRMs as presented in (23): In order to have (30), the virtual control
signal has a following form:
 z1 = z2

 (23) 1 = −c1e1 + zd
 z2 = f ( x ) + g ( x ) u
 (29)

with f ( x ) , g ( x ) is defined in equation (21). in which c1 is positive constant. To e1 → 0

This is a second order tight backpropagation then e2 → 0 .
model. Model in (23) is perfectly suitable using
back-stepping technique to design the controller. Step 2: e2 = z2 − 1 (30)

Differentiating e2 over time, we have:

 P.H. Nha et al. / VNU Journal of Science: Comp. Science & Com. Eng., Vol. 37, No. 2 (2021) 20-31 25

e2 = z2 − 1 (31)
V=
2
( e1 + e2 ) = V1 + e22 = V2
1 2 2 1
2
(37)
From (25) we have:
Differential V over time, we have:
e2 = z2 − 1 = f ( x ) + g ( x ) u − 1 (32)
V = −c1e12 + e1e2 + e2  f ( x ) + g ( x ) u − 1  (38)
To determine control signal u to ensure
e2 → 0 , we also choose Lyapunov function: Substituting u from equation (36) to (38),
we have:
1
V2 = V1 + e22
 f ( x ) − c2 e2 − e1 
(33)
2
V = −c1e12 + e1e2 + e2  
Differential over time, we have:  −  f ( x ) − 1  − 1  (39)
V = −c1e12 − c2 e22  0
V2 = V1 + e2e2 (34)
→QED.
Substituting equations (28) and (33) to (34),
we have: 3.2. ANN Based Flux Estimator for SRM
V2 = −c1e12 + e1e2 + e2  f ( x ) + g ( x ) u − 1  (35) Based on magnetic flux equation (4) of
SRM, we will approximate function fj(θ) by an
Selecting the control signal of system from ANN The structure of ANN is illustrated in
(35): Figure 1 [10]. Inputs of the network are the
current in stator and position of rotor, and
−c2 e2 − e1 −  f ( x ) − 1 
u=
^

g ( x)
(36) outputs are fj(θ) and  j ( ) . The network
includes 5 layers P f , R f , S f , T f , Uf with the
with c2 is positive constant. letters representing the relative number of
Theorem: The SRM has been represented in neurons in respective layers f (forward) is in
state-space model (23) controlled by a back- every variable of the network.
stepping controller defined in (36) where are i) Feedforward algorithm of the estimator
positive constants to ensure a stable Lyapunov
closed system. In every layer, x is the input and y is the
output of each neuron. Signal propagation and
Proof: We choose the Lyapunov function for activation function is illustrated.
closed loop system has a following form:

Figure 1. Neuron network structure of the system.

26 P.H. Nha et al. / VNU Journal of Science: Comp. Science & Com. Eng., Vol. 37, No. 2 (2021) 20-31

Layer P f : neuron p has input and output Layer Uf : Magnetic flux and torque of each
presented: phase are determined in this layer. After
obtaining f j ( ) and a j ( ) from the output of
x pf =  and y pf x pf = x pf( ) (40)
T f , approximated magnetic flux function

with p = 0 . Activation function equals to 1
 j ( ) and approximated torque function
in this layer.
Tˆj ( , i j ) are calculated in layer U f according to
f
Layer R : Each neuron r in this layer has
the formula:
input and output presented:

xuf = ytf i j and yuf = 1 − e u = 
−x
( )
f

  x f − c f 2  j (45)
xrf = y pf .w prf and yrf = exp  −  r f r   (41)
  r   with u = 0 . In which i j is the current in stator
 
windings.
with p = 0 and r = 0...R f . In which crf and  rf
are center and range of Gaussian Activation Electro-magnetic torque is approximated as:
function. w prf is the weight between 2 layers P f df j ( ) − i j f j ( )
Tˆj ( , i j ) = [1 − (1 + i j f j ( ))e ] (46)
and R . f
f ( )d
j
2

Layer S f : s neurons are in this layer. Inputs In above formulas, we do not need to
and outputs are calculated: consider the saturation of flux  s because ANN
Rf has adaptive structure through weights and
x =  yrf .w rsf
s
f
(42) activation functions. To train the ANN,
r =0
backpropagation algorithm is used.
and
ii). Backpropagation algorithm
  xf −cf   2
In ANN, the main purpose of network
ysf = exp  −  s f s   (43)
  s   training is to update the network’s weights
  (Figure 2). The algorithm for training the ANN
with r = 0...R f and s = 0...S f . In which csf and with the forward model is error backpropagation
algorithm. Flowchart of training algorithm is
 sf are center and range of Gaussian Activation presented in Figure 3.
function. w rsf is the weight between 2 layers R f
and S f .

Layer T f : Function f j ( ) is the output of

this layer. For each neuron t in this layer is
determined as:
Rf
xt =  ysf .w stf and ytf = xtf = f j ( ) (44)
f

r =0

with s = 0...S f and t = 0 . Figure 2. Neural network training process

 P.H. Nha et al. / VNU Journal of Science: Comp. Science & Com. Eng., Vol. 37, No. 2 (2021) 20-31 27

Weights of the network are trained to Layer T f − S f : In this layer, the weights
minimize an objective function: change:

(
1 f
e ( k ) ) with k = 1,..., K  E f 
2
Ef =
f
(47)
2 w stf = stf  − f  = stf  t f ysf (50)
 w st 
in which K f is the number of the input and
output and e f is the error between approximated in which stf is the learning coefficient of the
 weight between.
value of magnetic flux  j and actual value  j .
Layer S f − R f : Error e f is directly fed S f
by chain rule. Therefore, error  s f is determined:

ysf
 s f =  s f w stf (51)
xsf

In this layer, the change of the weight is:

 E f 
w rsf = rsf  − f 
= rsf  sf yrf (52)
 w rs 

in which rsf is the learning coefficient of the

weight between 2 layers.

Layer R f − P f : Error e f is directly fed S f

by chain rule. Therefore, error  r f is
determined:

yrf Sf
 rf =
xrf

s =0
s
f
w rsf (53)

In this layer, the change of the weight is:

Figure 3. Diagram of neural network training  E f 

w prf = rsf  − f  =  prf  r f y pf (54)
 w rs 
algorithm


e f =  j ( k ) − j ( k ) with k = 1,..., K f (48) in which  prf is the learning coefficient of the
weight between 2 layers.
Layer U f − T f : Because weights between
layers are uniform, e f is directly fed into T f in Weights w prf , w rsf and w stf are updated
chain rule. Therefore, error  t f determined: through energy function E f . The change in
weights w stf , w rsf , w prf will be added to
yuf ytf
 t f = −e f i j (49) weights in the ANN as in (55):
xuf xtf
28 P.H. Nha et al. / VNU Journal of Science: Comp. Science & Com. Eng., Vol. 37, No. 2 (2021) 20-31

w stf ( k + 1) = w stf ( k ) + w stf The parameters of the neural network after

being trained, the SRM parameters and the
w rsf ( k + 1) = w rsf ( k ) + w rsf (55)
selected parameters of the controller in Table 1.
w prf ( k + 1) = w prf ( k ) + w prf
Training neural network parameters of flux
estimator:
with k = 1,..., K f .

The back-stepping controller proposed is R f = S f = 20 , K f = 200 ,

only possible when the state variables of the  rf = linspace ( −5,5, R f ) ,
 sf = linspace ( −5,5, S f ) , crf = csf = 0.1 ,
SRM are provided. The flux state variable with
parameters that are difficult to determine is
provided from the estimator in section 3.2. Back-  stf = rsf =  prf = 0.02
stepping control technique (36) for SRM that
combines magnetic flux estimator by neural Table 1. Parameters of SRM and controller:
network is proposed. The neural network, after
Nr = 6 c1 = 2
being trained offline, is fed to the controller as
shown in Figure 4. J = 6.8  103 ( kg / m 2 ) c2 = 0.1

R = 0.05 ( )  = 100

a = 1.5 10−3 ( H ) T = 0.025

b = 1.364 10−3 ( H ) l1 = 100

B = 0.2 l2 = 2500

l = 2 ( m)

Figure 4. The back-stepping controller combined Simulation results of the performance of the
with ANN based flux estimator. proposed control system are shown in Figure 5,
Figure 6, Figure 7 and Figure 8
4. Simulation Result
In Figure 5, the approximated magnetic flux
The proposed control system in the paper is from the ANN based flux estimator is compared
verified by the simulation results carried out with its values calculated by approximated
through Matlab/SIMULINK software. mathematic model (Figure 5a). The error of the
The design criteria for this problem are: two values is shown in Figure 5b. It can be seen
that, the value of the error is nearly zero. It is
o No static error. proved that the ANN work well.
o Overshoot less than 5%.
In Figure 6, the electromagnetic torque of
o Settling time less than 0.5s. SRM is presented. It is clearly that the ripple still
exists. This problem usually appears with SRM
and need to be improve in this research.
 P.H. Nha et al. / VNU Journal of Science: Comp. Science & Com. Eng., Vol. 37, No. 2 (2021) 20-31 29

We continue considering the performance of

control system. According to this, the back-
stepping controller (BTP) and the back-stepping
controller using ANN based flux estimator
(BTP-ANN flux estimator) are used to control
the speed for the SRM (Figures 7, 8) with the
same conditions.
In Figure 7, we consider the response of
system at a fixed set point at 10 rad/s. The
performance of the two simulations is compared
and summarized in Table 2. In Figure 8, we
continue verifying the performance of system
when the system has been change in operation. Figure 5. Magnetic flux characteristic.
In detail, at time t = 1s, the set point change from
15 rad/s to 20 rad/s. We can see that, system still
tracks the set point.

Table 2. Control performance between

BTP and BTP-ANN flux estimator:

BTP-ANN
BTP
flux estimator
Static error
(rad/s)
10−4 10−4

Setting time
0.45 0.45
(s)
Overshoot (%) 0 0
Figure 6. Torque characteristic.
30 P.H. Nha et al. / VNU Journal of Science: Comp. Science & Com. Eng., Vol. 37, No. 2 (2021) 20-31

Simulation results of the SRM control

system using the back-stepping controller
combined with the magnetic flux estimator by
the neural network achieves the desired qualities.
The flux approximation error quickly converges
to near zero, since the neural network flux
estimator has been trained off-line with high
accuracy (10-5 of SE). When the neural network
flux estimator is combined with the back-
stepping controller, the control system gives
good quality, fast response to set speed with
static error almost zero. Torque characteristic
(Figure 6) is not good because the logic control
Figure 7. Speed response and error in case of 10 of the switches is not optimal in time.
rad/s set point.
5. Conclusions

This study demonstrates a new approach in

SRM control system. In that, a back-stepping
controller is combined with ANN based flux
estimator. The flux estimator based on artificial
neural network has been trained offline and been
used to overcome the difficulties in calculating
or measuring the motor flux. The simulation
results show the effectiveness of back-stepping
controller combined with ANN based flux
estimator. The ANN could have successfully
replaced a mathematic flux models (their
coefficients are difficult to determine and
depends on the type of SRM, each SRM size,...)
as well as experimental values (difficult to
measuring) with high accuracy estimation.
Besides, the control performance still is
guaranteed compared with traditional back-
stepping controller. All characteristics of the
response satisfy the design criteria such as:
steady state static error, settling time, and
percentage overshoot.

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