586

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 54, NO. 1, FEBRUARY 2007

Fuzzy Sliding-Mode Control Using

Adaptive Tuning Technique
Rong-Jong Wai, Senior Member, IEEE

AbstractThis study mainly deals with the key problem of

chattering phenomena on the conventional sliding-mode control
(SMC) and investigates an adaptive fuzzy sliding-mode control
(AFSMC) system for an indirect field-oriented induction motor
(IM) drive to track periodic commands. First, an indirect field-orientation method for an IM drive is introduced briefly. Moreover,
a fuzzy logic inference mechanism is utilized for implementing
a fuzzy hitting control law to remove completely the chattering
phenomena on the conventional SMC. In addition, to confront the
uncertainties existed in practical applications, an adaptive algorithm, which is derived in the sense of Lyapunov stability theorem,
is utilized to adjust the fuzzy parameter for further assuring robust and optimal control performance. The indirect field-oriented
IM drive with the AFSMC scheme possesses the salient advantages
of simple control framework, free from chattering, stable tracking
control performance, and robust to uncertainties. Furthermore,
numerical simulation and experimental results due to periodic
sinusoidal commands are provided to verify the effectiveness of
the proposed control strategy, and its advantages are indicated
in comparison with the conventional SMC system and the SMC
system with a boundary layer.
Index TermsFuzzy inference mechanism, indirect field-orientation method, induction motor (IM) drive, Lyapunov stability,
sliding-mode control (SMC).

I. INTRODUCTION
LIDING-MODE CONTROL (SMC) is one of the effective nonlinear robust control approaches since it provides
system dynamics with an invariance property to uncertainties
once the system dynamics are controlled in the sliding mode
[1][5]. The first step of SMC design is to select a sliding surface
that models the desired closed-loop performance in state variable space. In the second step, design a hitting control law such
that the system state trajectories are forced toward the sliding
surface and stay on it. The system state trajectory in the period
of time before reaching the sliding surface is called the reaching
phase. Once the system trajectory reaches the sliding surface, it
stays on it and slides along it to the origin. The system trajectory
sliding along the sliding surface to the origin is the sliding mode.
Under certain conditions, the SMC is robust with respect to
system perturbation and external disturbance [1], [2]. However,
this control strategy produces some drawbacks associated with
large control chattering that may wear coupled mechanisms
and excite unstable system dynamics. Though introducing a

Manuscript received September 8, 2004; revised August 21, 2006. Abstract

published on the Internet November 30, 2006. This work was supported in
part by the National Science Council of Taiwan, R.O.C., under Grant NSC
952221-E-155085.
The author is with the Department of Electrical Engineering, Yuan Ze University, Chung Li 32026, Taiwan, R.O.C. (e-mail: rjwai@saturn.yzu.edu.tw).
Digital Object Identifier 10.1109/TIE.2006.888807

boundary layer may reduce the chatter amplitude [1], [2], the
stability inside the boundary layer cannot be guaranteed and
the poor selection of boundary layer will result in degenerate
or unstable tracking responses. On the other hand, an adaptive
algorithm for estimating the bound of lumped uncertainties proposed in [5] was designed to reduce the chattering phenomena
of the control effort. However, the accumulative implementation of the adaptive algorithm always holds a positive value so
that the tracking error introduced by any uncertainty, such as
sensor error or accumulation of numerical error, will cause the
estimated bound increase even to infinity with time. This results
in the actuator eventually being saturated and the system may be
unstable. The basic idea for removing the chattering is taking off
the sign function in the hitting control law of SMC.
In the past three decades, fuzzy systems have replaced conventional technologies in many applications, especially in control systems. One major feature of fuzzy logic is its ability to express the amount of ambiguity in human thinking. Thus, when
the mathematical model of one process does not exist, or exists
but with uncertainties, fuzzy logic is an alternative way to deal
with the unknown process [6]. But, the huge amounts of fuzzy
rules for a high-order system makes the analysis complex. For
example, Liaw et al. [7] introduced a two-degree-of-freedom
controller with fuzzy adaptation to reduce the effects of parameter variations on the desired performance; however, the adopted
linguistic rule base was too complex. Nowadays, much attention has focused on the combination of fuzzy logic and SMC.
The main advantages of the fuzzy control design based on SMC
are that the fuzzy rules can be reduced, and the requirement of
uncertainty bound can be relaxed. Wong et al. [8], [9] combined a fuzzy controller with SMC and state feedback control
or proportional-integral control to remedy the chattering phenomenon and to achieve zero steady-state error. However, the
parameters of membership functions cannot be adjusted to afford optimal control efforts under the occurrence of uncertainties. Ha [10], [11] adjusted the SMC action during the reaching
phase using fuzzy logic for reducing chattering without sacrificing robust performance. Lin et al. [12] utilized an adaptive
fuzzy SMC system for a permanent magnet synchronous motor
drive. However, there still exists some chattering in the control efforts because the sign function is included in the ultimate
control law [10][12]. On the other hand, incorporating SMC
into fuzzy neural network provides a possible solution to alleviate the chattering phenomena. In [13] and [14], intelligent
uncertainty observers were designed to estimate the bound of
lumped uncertainty; however, these network structures and inference mechanism were too complex. The aim of this study is
to overcome the mentioned problems and reserve favorable control performance in the opening literature [6][14].

0278-0046/$25.00 2007 IEEE

WAI: FUZZY SLIDING-MODE CONTROL USING ADAPTIVE TUNING TECHNIQUE

As compared with a DC motor, an IM is robust, cheap, and

easily maintained. These characteristics make it desirable to employ them in variable-speed or servo systems. However, in the
scalar control techniques, the transient dipping of flux reduces
the torque sensitivity with slip and lengthens the response time.
In order to overcome the foregoing limitation, the field-oriented
control technique has been widely used in industry for high-performance IM drives to achieve the favorable decoupling control
[15][17]. However, the performance is sensitive to the variations of motor parameters, especially, the rotor time-constant
parameter that varies with the temperature and the saturation of
the magnetizing inductance. Recently, much attention has been
given to the possibility of identifying the changes in motor parameters of an IM, while the drive is in normal operation. Some
researchers have proposed various IM drives with rotor-resistance or rotor time-constant identification to produce better control performance [15][20]. With these control approaches, the
dynamic behavior of the IM is rather similar to that of a separately excited DC motor. However, the control performance of
the IM is still influenced by the uncertainties, such as mechanical parameter variation, external disturbance, unstructured uncertainty due to nonideal field orientation in transient state, and
unmodeled dynamics, etc. In the control fields, the acquirement
of the uncertainty information is an important research topic.
From a practical point-of-view, however, it is usually very difficult to get the complete information of uncertainties. Therefore, the motivation of this study is to design a suitable control
scheme to confront the uncertainties existed in practical applications of an indirect field-oriented IM drive.
To accomplish the mentioned motivation, an AFSMC system
is designed for an indirect field-oriented IM drive to track periodic commands. In the conventional SMC system, the equivalent and hitting control efforts are afforded to ensure that the
error state trajectory reaches and stays on a sliding surface.
However, the undesired chattering phenomenon may exist in
practice. In order to remedy this phenomenon, a fuzzy hitting
control law is embedded into the SMC system, and an adaptive
algorithm derived in the sense of the Lyapunov stability theorem
is utilized to adjust the fuzzy parameter. This study is organized
as follows. Section II briefly describes an indirect field-orientation method for an IM drive. In Section III, an AFSMC system
is designed for an indirect field-oriented IM drive to track periodic commands. The design procedures and qualitative analysis
of the proposed AFSMC system are described in detail. Numerical simulation and experimental results are provided to validate
the effectiveness of the proposed control system in Section IV.
Conclusions are drawn in Section V.

587

II. INDIRECT FIELD-ORIENTED INDUCTION MOTOR (IM) DRIVE

The dynamic model of a three-phase squirrel-cage Y-connected IM can be described in a synchronous rotating reference
frame as [15][17], as shown in (1) at the bottom of the page,
is the stator resistance per phase;
is the rotor rewhere
is the magnetizing insistance per phase referred to stator;
is the stator inductance per phase;
is
ductance per phase;
the rotor inductance per phase referred to stator;
is the synis the rotor angular velocity;
chronous angular velocity;
is the number of pole pairs;
is the rotor time-conis the leakage coefficient;
stant;
and
are axis and axis stator currents;
and
are
axis and axis rotor fluxes;
and
are axis and axis
stator voltages; and the superscript represents the values in
the synchronous rotating reference frame. Moreover, the electromagnetic torque equation can be expressed in terms of stator
current and rotor flux linkage as
(2)
In an ideally decoupled IM, the rotor flux linkage axis is
forced to align with the axis. It follows that:
(3)
Using (3), the desired rotor flux linkage in terms of
found from the last row of (1) as

can be

(4)

where is the Laplace operator. According to the third row of

can be estimated
(1), the slip angular velocity
shown in (4) and
as follows:
using
(5)
In the steady-state, the desired rotor flux linkage shown in (4)
can be represented as
, in which
is the flux
current command. Moreover, the synchronous angular velocity
in the indirect field-oriented mechanism is generated by
and the folusing the measured rotor angular velocity
lowing estimated slip angular velocity:
(6)

(1)

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where
is the torque current command. With the implementation of indirect field-oriented control [15][17], the electromagnetic torque can be simplified as
(7)
with the torque constant

is defined as
(8)

According to the above derivation, the most important factor

in the indirect field-oriented mechanism is the precision of the
estimated slip angular velocity. Since the rotor time-constant
is sensitive to different operating conditions, a sliding-mode
rotor time-constant estimation in [20] is adopted in this study to
guarantee a correct estimation of the slip angular velocity, and
to preserve the decoupling control characteristic.
The IM used in this drive system is a three-phase Y-connected
four-pole 800 W 60 Hz 130 V/5.6 A type. The detailed parameters of the IM are

Fig. 1. Block diagram of the AFSMC system.

Consider the parameters in the nominal condition without external load disturbance, rewriting (11) as follows can represent
the nominal model of the IM drive system:

(9)
(13)
Moreover, the drive system is a ramp comparison current-controlled pulsewidth-modulation (PWM) voltage source inverter
(VSI). The current-controlled VSI is implemented by insulated
gate bipolar transistor (IGBT) switching components with a
switching frequency of 15 kHz. For the speed and position control systems, the braking machine is driven by a current source
drive to provide braking torque. An inertia varying mechanism
is coupled to the rotor shaft of the IM. The mechanical equation
of an IM drive system can be represented as [15][17]
(10)
is the rotor position, is the moment of inertia,
where
is the damping coefficient, and
represents the external load
disturbance. Substituting (7) into (10) as follows can represent
the mechanical dynamic of the IM drive system:

where
and
are the nominal
and , respectively. Consider (13) with parameter
values of
variation, external load disturbance, and unpredicted uncertainties for the actual IM drive system

(14)
where
and
denote the uncertainties introduced by
system parameters
and ;
represents the unstructured
uncertainty due to nonideal field orientation in transient state,
is
and the unmodeled dynamics in practical applications;
called the lumped uncertainty and is defined as
(15)
Here, the bound of the lumped uncertainty is assumed to be
given, that is

(11)
,
,
, and
is the control effort. Dynamic modeling based on
measurements [21] is applied to find the drive model offline at
the nominal condition. The results are
where

(12)
The overbar symbol represents the system parameters in nominal conditions.

(16)
where

is a given positive constant.

III. ADAPTIVE FUZZY SLIDING-MODE
CONTROL (AFSMC) SYSTEM

The derivation of the proposed AFSMC system for an indirect

field-oriented IM drive is discussed in this section. The control
aim is to design a suitable control law so that the rotor position can track desired position commands. The overall scheme
of the AFSMC strategy is depicted in Fig. 1, in which a simplified indirect field-oriented IM drive is used to represent the
real controlled plant described in Section II. In the conventional

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589

SMC design, a sliding surface is chosen in the state-space

by the following scalar equation:
(17)
is a positive constant, and
and
denote the tracking position and speed
and
are the rotor position and speed
errors, in which
commands. Take the derivative of sliding surface with respect to
time and use (14), then
where

(18)
The control effort being derived as the solution of
without considering lumped uncertainty
is to
achieve the desired performance under nominal model, and it
is referred to as equivalent control effort [1], [2], represented
by
(19)
However, if unpredictable perturbations from the parameter
variations or external load disturbance occur, the equivalent
control effort cannot ensure the favorable control performance.
Thus, auxiliary control effort should be designed to eliminate
the effect of the unpredictable perturbations. The auxiliary
control effort is referred to as hitting control effort represented
. In conventional SMC,
is given as follows:
by
(20)
is a hitting control gain concerned with the upper
where
is a sign function. Totally, the
bound of uncertainties, and
. The
SMC law can be represented as
detailed proof of this SMC law is similar to [1] and [2] and is
omitted here. However, the upper bound of uncertainties, which
is required in the conventional SMC system, is difficult to obtain precisely in advance for practical applications. If the bound
is selected too large, the sign function of the hitting control law
will result in serious chattering phenomena in the control efforts.
The undesired chattering control efforts will wear the bearing
mechanism and might excite unstable system dynamics. On the
other hand, if the bound is selected too small, the stability conditions may not be satisfied. It will cause the controlled system
to be unstable. For this reason, a boundary layer is generally introduced into the SMC law to reduce the chatter amplitude, i.e.,
by
in (20), then
replacing the term
the hitting control law can be rewritten as

Fig. 2. Membership functions. (a) Input fuzzy sets for S . (b) Output fuzzy sets
for U .

Let the sliding surface be the input linguistic variable of the

be the output
fuzzy logic, and the fuzzy hitting control law
are
linguistic variable, the associated fuzzy sets for and
expressed as follows:
for [in antecedent proposition]: P (positive), N (negative), Z (zero);
[in consequent proposition]: PE (positive effort),
for
NE (negative effort), ZE (zero Effort).
According to the spirit of the hitting control law shown in
(20), the fuzzy linguistic rule base involved in the AFSMC
system can be summarized as follows.
is PE.
Rule 1: If is P, then
Rule 2: If is Z, then
is ZE.
is NE.
Rule 3: If is N, then
The membership functions of input and output fuzzy sets are
depicted in Fig. 2(a) and (b), respectively. In this study, the singleton fuzzification with triangular membership functions and
center-of-gravity defuzzification method are adopted, as they
are computationally simple, intuitively plausible, and most frequently used in the opening literatures. Then, a fuzzy hitting
control law can be estimated by fuzzy logic inference mechanism as follows:

(22)

where
,
, and
are
,
the firing strengths of rules 1, 2, and 3, respectively;
and
are the center of the membership
functions PE, ZE, and NE, respectively; is a fuzzy parameter to
be tuned by an adaptive algorithm introduced later; the relation
is valid according to the special case of
triangular membership functions. Moreover, the fuzzy hitting
can be further analyzed as the following
control effort
four conditions, and only one of four conditions will occur for
any value of according to Fig. 2(a).
Condition 1: Only rule 1 is triggered.

(21)
where is the width of the boundary layer. Unfortunately, the
stability inside the boundary layer cannot be ensured and the inadequate selection of the boundary layer may result in unstable
tracking responses. Therefore, an AFSMC system, in which a
fuzzy logic inference mechanism is used to mimic the hitting
control law, is introduced in the following paragraph.

(23)
Condition 2: Rules 1 and 2 are triggered simultaneously.

(24)

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Condition 3: Rules 2 and 3 are triggered simultaneously.

,
where is a positive constant. Take the derivative of
with respect to time, and using (18) and (33), one can
obtain

(25)
Condition 4: Only rule 3 is triggered.

(26)
According to four possible conditions shown in (23)(26), it can
. Totally, the
see that
AFSMC law can be represented as
(27)
Define a Lyapunov candidate function as
(35)

(28)
If the adaptation law is designed as
Take the derivative of the Lyapunov function with respect to
time, and using (18) and (27), one can obtain

(36)
then (35) can be represented via (31) as

(29)
If the following inequality:
(30)

(37)

can be
holds, then the sliding condition
satisfied [1], [2]. According to (30), there exists an optimal value
as follows to achieve minimum control efforts and match the
sliding condition:

, one
According to the inequality
. Since
can obtain that
,
is negative semidefinite, that is,
, which implies
and
are
bounded. Let function
, and integrate function
with respect to time

(31)
where is a small positive constant. Owing to the unknown
cannot be exactly
lumped uncertainties, the optimal value
obtained in advance for practical applications. Thus, a simple
adaptive algorithm is utilized in this study to estimate the optimal value of , and its estimated error is defined as

(38)
is bounded, and
is nonBecause
increasing and bounded, the following result is obtained:
(39)

(32)
is the estimated value of the optimal value of . In
where
summary, the modified AFSMC law can be rewritten via (27) as
(33)
Choose a Lyapunov candidate as
(34)

Also,
is a positive function and
is bounded for
all time, so by Barbalats Lemma [1], [2], it can be shown that
according to (39). That is,
as
. Taking a summary, the proposed AFSMC system is
is given
presented in (33), where the equivalent control law
in (19) and the fuzzy hitting control law
is given in (22) with
the fuzzy parameter adjusted by (36). As a result, the AFSMC
system is stable even when the uncertainties occur. Moreover,
will converge to zero according to
the tracking error

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591

Fig. 3. DSP-based computer control system.

. The effectiveness of the proposed AFSMC system can be

verified by the following numerical simulation and experimental
results.

effort and the requirement of stability. Two simulation cases including parameter variations and time-varying external load disturbance in the shaft due to periodic sinusoidal commands are
addressed as follows:

IV. NUMERICAL SIMULATION AND EXPERIMENTAL RESULTS

A block diagram of the DSP-based computer control system
for an indirect field-oriented IM drive system using the current-controlled technique is depicted in Fig. 3. The current-controlled PWM VSI is implemented by an IPM switching component (PM50RSA060) manufactured by the Mitsubishi Company
with a switching frequency of 15 kHz. A servo control card is installed in the control computer, which includes multichannels of
D/A and encoder interface circuits. Digital filter and frequency
multiplied by four circuits are built into the encoder interface
circuit to increase the precision of position feedback. The proposed AFSMC system is realized in a Pentium CPU, moreover,
the sliding-mode rotor time-constant estimation system is realized in a TMS320C31 DSP [22]. Three-phase voltages and currents are sampled by the A/D converters connected to the DSP to
provide input signals for the estimation system. The control interval of the sliding-mode rotor time-constant estimation system
is set at 0.2 ms, and the control interval of the position control
loop is set at 1 ms.
The simulation and experimentation of the proposed control
systems are carried out using the Matlab package and Turbo
C language, respectively, and the control parameters are given
as

(40)
All the parameters in the proposed control systems are chosen to
achieve the superior transient control performance in both simulation and experimentation considering the limitation of control

(41)
(42)
In the simulation, first, the conventional SMC system in (19)
and (20) is considered for comparison. The simulated results of
the SMC system due to periodic sinusoidal commands at Cases
1 and 2 are depicted in Fig. 4. The robust tracking performances
shown in Fig. 4(a) and (e) are obvious under the occurrence of
parameter variations and external load disturbance. However,
the chattering control efforts shown in Fig. 4(b) and (f) are serious due to the inappropriate selection of a large control gain
. Note that the individual control efforts including equivalent and hitting control laws at Cases 1 and 2 are depicted in
Fig. 4(c), (d), (g), and (h). It is obvious that the chattering phenomena are caused mainly by the hitting control law, as shown
in Fig. 4(d) and (h). Moreover, the conventional SMC system
with a boundary layer, as shown in (21), is applied to control
the rotor position of the IM drive. The simulated results of the
for periodic siSMC system with a boundary layer
nusoidal commands at Cases 1 and 2 are depicted in Fig. 5. The
tracking responses are depicted in Fig. 5(a) and (e), and the associated control efforts are depicted in Fig. 5(b)(d) and (f)(h).
From the simulated results, there are no chattering phenomena
in the control efforts, but degenerate tracking performances are
results owing to the parameter variations and external load disturbance. Though narrow width of boundary layer may solve the
problem of delay or degenerate tracking responses, it will result
in impractical chattering control efforts. Therefore, the width

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Fig. 4. Simulated results of the SMC system. (a) Tracking response at Case 1.
(b)(d) Control efforts at Case 1. (e) Tracking response at Case 2. (f)(h) Control
efforts at Case 2.

Fig. 5. Simulated results of an SMC system with a boundary layer. (a) Tracking
response at Case 1. (b)(d) Control efforts at Case 1. (e) Tracking response at
Case 2. (f)(h) Control efforts at Case 2.

of the boundary layer is ordinarily chosen as a compromise between the chattering phenomena and tracking performance. In
addition, the simulated results of the proposed AFSMC system
due to periodic sinusoidal commands at Cases 1 and 2 are given
in Fig. 6 for comparison. The tracking responses are depicted
in Fig. 6(a) and (e), and the associated control efforts are depicted in Fig. 6(b)(d) and (f)(h). From the simulation results,
not only are there no chattering phenomena in the control efforts but also favorable tracking response can be obtained under
the occurrence of uncertainties. Compare Fig. 6 with Figs. 4
and 5, the AFSMC system yields superior control performance
than the conventional SMC system and the SMC system with a
boundary layer.
Some experimental results are provided to further demonstrate the effectiveness of the proposed control systems. Two
test conditions are given to verify the system robustness. One
is the external disturbance condition, that is the nominal inertia
braking-load disturbance ocwith
curring at 4 s, and the other is the perturbation condition, that is

the increasing of the rotor inertia to approximately two times the

braking-load disnominal value with
turbance occurring at 4 s. The experimental results of the SMC
system due to periodic sinusoidal commands at two test conditions are depicted in Fig. 7. From the experimental results, the
robust tracking performances shown in Fig. 7(a) and (c) are obvious under the occurrence of parameter variations and external
load disturbance. However, the chattering phenomena shown in
Fig. 7(b) and (d) are serious due to the inappropriate selection
of a large control gain . The undesired chattering control efforts will wear the bearing mechanism and might excite unstable
system dynamics. Moreover, the SMC system with a boundary
is implemented to control the rotor position of
layer
the IM drive for attempting to attenuate the control chattering.
The tracking responses at two test conditions are depicted in
Fig. 8(a) and (c), and the associated control efforts are shown
in Fig. 8(b) and (d). Though there are no chattering phenomena
in the control efforts, degenerate-tracking performances shown
in Fig. 8(a) and (c) are results due to the wide width of the

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593

Fig. 8. Experimental results of the SMC system with a boundary layer. (a)
Tracking response at the external disturbance condition. (b) Control effort at the
external disturbance condition. (c) Tracking response at the perturbation condition. (d) Control effort at the perturbation condition.

Fig. 6. Simulated results of the AFSMC system. (a) Tracking response at

Case 1. (b)(d) Control efforts at Case 1. (e) Tracking response at Case 2.
(f)(h) Control efforts at Case 2.

Fig. 7. Experimental results of the SMC system. (a) Tracking response at the
external disturbance condition. (b) Control effort at the external disturbance condition. (c) Tracking response at the perturbation condition. (d) Control effort at
the perturbation condition.

Fig. 9. Experimental results of the AFSMC system. (a) Tracking response at

the external disturbance condition. (b) Control effort at the external disturbance
condition. (c) Tracking response at the perturbation condition. (d) Control effort
at the perturbation condition.

boundary layer. Therefore, the width of the boundary layer is

difficult to determine due to the unknown uncertainties in practical applications, and is ordinarily chosen as a compromise
between the chattering phenomena and tracking performance.
In addition, the tracking responses and control efforts with the
AFSMC system due to periodic sinusoidal commands at two test
conditions are depicted in Fig. 9. The tracking responses are depicted in Fig. 9(a) and (c), and the associated control efforts are
shown in Fig. 9(b) and (d). From the experimental results, robust
control performance can be obtained, and the chattering phenomena are removed in the control efforts according to the online adjustment of the hitting control law via fuzzy tuning technique. Compare Fig. 9 with Figs. 7 and 8, the AFSMC system
transcends the conventional SMC system and the SMC system
with a boundary layer to control the rotor position of the indirect
field-oriented IM drive.

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V. CONCLUSION
This study has successfully demonstrated the application of
the proposed AFSMC system to an indirect field-oriented IM
drive for tracking periodic commands. Compared with the conventional SMC system and the SMC system with a boundary
layer, the AFSMC system results in robust control performance
without chattering control efforts. In general, the mechanical
equation of an electrical servo drive (e.g., direct-current motor
drive, IM drive, or permanent magnet synchronous motor drive)
can be represented as (10). With suitable impressed current or
field orientation control [15][17], the electromagnetic torque
can also be simplified as (11). Thus, the proposed AFSMC
system can be utilized widely for the position control of any
electrical servo drives.
The major contributions of this study are: 1) the successful
development of a fuzzy SMC system, in which a fuzzy hitting
control law is embedded into the conventional SMC system to
remove the control chattering; 2) the successful development
of an AFSMC system, in which an adaptive algorithm is utilized to adjust the fuzzy parameter to confront the system uncertainties online; 3) the successful application of the proposed
AFSMC system to control an indirect field-oriented IM drive
considering the possible occurrence of uncertainties; and 4) the
control methodologies designed in this study can be easily extended to other electric drives.
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Rong-Jong Wai (M99A00SM05) was born in
Tainan, Taiwan, R.O.C., in 1974. He received the B.S.
degree in electrical engineering and the Ph.D. degree
in electronic engineering from Chung Yuan Christian
University, Chung Li, Taiwan, R.O.C., in 1996 and
1999, respectively.
Since 1999, he has been with the Department of
Electrical Engineering, Yuan Ze University, Chung
Li, where he is currently a Professor. He is also the
Director of the Electric Control and System Engineering Laboratory, Yuan Ze University, and the Energy Conversion and Power Conditioning Laboratory at the Fuel Cell Center.
He is a chapter-author of Intelligent Adaptive Control: Industrial Applications
in the Applied Computational Intelligence Set (Boca Raton, FL: CRC, 1998)
and the coauthor of Drive and Intelligent Control of Ultrasonic Motor (Taichung, Taiwan, R.O.C.: Tsang-Hai, 1999), Electric Control (Tai-chung, Taiwan,
R.O.C.: Tsang-Hai, 2002), and Fuel Cell: New Generation Energy (Tai-Chung,
Taiwan, R.O.C.: Tsang-Hai, 2004). He has authored numerous published journal
papers in the area of control system applications. His research interests include
power electronics, motor servo drives, mechatronics, energy technology, and
control theory applications.
Dr. Wai received the Excellent Research Award in 2000, and the Wu Ta-You
Medal and Young Researcher Award in 2003 from the National Science Council,
R.O.C. In addition, he was the recipient of the Outstanding Research Award in
2003 from the Yuan Ze University, R.O.C.; the Excellent Young Electrical Engineering Award in 2004 from the Chinese Electrical Engineering Society, R.O.C.;
the Outstanding Professor Award in 2004 from the Far Eastern Y. Z. Hsu-Science and Technology Memorial Foundation, R.O.C.; the International Professional of the Year Award in 2005 from the International Biographical Centre,
U.K., and the Young Automatic Control Engineering Award in 2005 from the
Chinese Automatic Control Society, R.O.C. He was listed in Whos Who in Science and Engineering (Marquis Whos Who) in 20042007, Whos Who (Marquis Whos Who) in 20042007, and Leading Scientists of the World (International Biographical Center) in 2005, Whos Who in Asia (Marquis Whos Who)
in 20062007, and Whos Who of Emerging Leaders (Marquis Whos Who) in
20062007.