IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 25, NO.
2, MARCHIAPRIL 1989
High-Performance Direct Torque Control of an
Induction Motor
Abstract-A new direct torque control method for an induction motor
is presented which is quite different from field-oriented control. Improv-
ing the torque response of a large-capacity induction motor using two sets
of three-phase inverters and an open-delta induction motor is of special
concern. Instantaneous voltage vectors applied by an inverter have
redundancy characteristics which provide some flexibility for selecting the
inverter switching modes. By using this switching freedom, control is
achieved according to the following priorities; 1) high-speed torque
control, 2) regulation of the primary flux, 3) decreasing the zero phase
sequence current, 4) minimization of the inverter switching frequency.
Simulations and experiments have been carried out to verify the feasibility
of this priority control, accompanied by comparisons with another
control scheme. Torque frequency-response corner frequencies above
2000 Hz have been experimentally measured, and time constants of 4 ms
have been achieved for rotor speed step responses from - 500 to 500 r/
min. The peak transient torque during the step change is about 20 times
the rated torque. The proposed method is very promising for rapid torque
control.
I. INTRODUCTION
H IGH DYNAMIC performance of servo motor drives is
indispensable in many applications of today’s
automatically controlled machines. AC servo motor control
has attracted much attention recently in the power electronics
field. Field-oriented control has been developed, enabling an
ac motor to attain dynamic responses as rapid as for a dc
motor. The principle of field-oriented control is based on
Fleming’s law, which describes the interaction force between
fluxes and currents.
Fig. l(a) shows a typical system configuration employing
field-oriented control. The system usually employs a position
sensor to drive a rotating reference frame transformation,
which generates the phase current commands for the current-
controlled inverter. The primary current reference i* is
calculated from the flux command $2* and the torque
command T* by using an estimator. The control equation for
the estimator contains motor parameters which vary with the
winding temperatures and the flux saturation level of the iron
core. Many papers have reported the problems associated with
compensating these parameters. The current-controlled invert-
ers typically used in the field-oriented drive system develop
Paper IPCSD 88-2, approved by the Industrial Drives Committee of the
IEEE Industry Applications Society for presentation at the 1987 Industry
Applications Society Annual Meeting, Atlanta, GA, October 19-23. Manu-
script released for publication May 13, 1988.
I. Takahashi is with the Department of Electrical and Electronic System
Engineering, Nagaoka University of Technology, 1603-1 Kamitomioka,
Nagaoka, Niigata, Japan 940-2 1.
Y. Ohmori is with the Technical Development Center, Toyo Electric
Company, Ltd., 388-1 Kamikusayanagi, Yamato, Japan 242.
IEEE Log Number 8825305.
OO93-9994/89/03OO-0257$01.OO 0 1989 IEEE
257
* A
i
(b)
Fig. 1 Torque control schemes. (a) Field-oriented control. (b) Direct torque
and flux control.
output waveforms which do not compare favorably with those
of the voltage-controlled inverter. The current-controlled
inverter often causes increased motor harmonic losses and
acoustic noise during steady-state operation [ 11431.
This paper proposes new control schemes based on the
principle of Arago’s disk, which can be considered a basic
law of torque generation in the induction motor. It makes
possible both fast torque response and high-efficiency control
at the same time.
Fig. l(b) shows a schematic diagram of the proposed
control scheme. In the system, instantaneous values of the flux
and the torque are calculated from primary variables and
controlled independently by using an optimum switching table.
Therefore, it can achieve not only the fastest torque response
but also the lowest harmonic losses and acoustic noise [4].
An object of the paper is how to apply the theory to a large-
capacity servo system using a gate turn-off (GTO) inverter.
The switching frequency of a GTO inverter is restricted to
values no higher than several hundred hertz. To increase the
drive capacity while decreasing the switching frequency, two
sets of three-phase GTO inverters are employed in the
experiment.
11. INDUCTION
MOTOR DRIVE
BY A DOUBLE
THREE-PHASE
INVERTER
Fig. 2 shows a schematic diagram of the power circuit,
which is composed of two sets of three-phase inverters, a
reactor L for suppressing the zero phase sequence current, and
an open-delta connection induction motor (IM). Since neutral
points of the induction motor are not isolated, zero phase
sequence current, expressed as io = i, + ib + ic, exists. The
current io increases the copper losses as well as the required
inverter capacity. These effects can be limited somewhat by
the primary leakage impedances of the motor, but the effect is
258 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 25, NO. 2 , MARCHIAPRIL 1989

-I

Fig. 2. Schematic diagram of system.

so small that the zero phase sequence reactor with isolated

three windings must be employed.
The instantaneous voltage vector u I is represented as
follows:
dl
U ]= J2/3((Uu - u,/2 - 4 2 ) +jJ2/3(u, - ”,)}. (1)
Assuming a dc link voltage of E , the line-to-line terminal
voltages uu, U,, U, applied by the inverters have three levels: E ,
0, or - E . As shown in Fig. 3, there are 19 distinct vector
sets, including one zero voltage vector VO,six intermediate
amplitude vectors VI, V2, * * , v,,and 12 large-amplitude
vectors V,, V8, * * ., VIS. Since the total number of inverter
switch combinations is 2, = 64, some of the switching modes
overlap, delivering the same voltage vector. This switching
redundancy can be employed to decrease the zero phase
sequence current. Fig. 4. Locus of $, and voltage vectors

111. DIRECT
CONTROL
OF BOTHTORQUE
AND PRIMARY
FLUX instants is always a16 rad, which eliminates unnecessary
The primary voltage vector u1 for the symmetrical induction inverter switching.
motor is expressed by following equation: The Fig. 4 also shows that the flux vector locus changes
direction periodically by d6-rad steps. Considering the
u1 = R Iil + d$, /dt (2) inherent symmetry, the switching plane pattern is divided into
12 segments as follows:
where R I is the stator resistance, is the flux linkage of the
stator winding, and il is the input current vector expressed as ( d 6 ) ( n - 1) <en < ( d 6 ) n , n = I , 2, - . . , 12.

il =J2/3{(iu-i,/2-i,/2)+jJ2/3(i,-i,)}. (3) Fig. 5 shows the torque response, with different amplitudes
of step changes of the slip frequency w, applied under constant
The vector u I changes discretely at the switching instants but Irl/ll. The maximum steady-state torque in this figure is
stays constant between the switching intervals. Therefore, achieved for w, = 2 a x 15 rad/s, which corresponds to the
from (2), during each interval is slip frequency for maximum torque on the steady-state torque-
speed curve. However, the rate of torque increase at t = 0 is
Gl=Vlt-! Rlildt+$lo (4) almost proportional to the amplitude of the step difference of
where ql0 is the initial value of at the beginning of the a,.This characteristic is explained analytically in [4]. It shows
switching interval. Assuming the voltage drop of R I is small, that the torque step response is
the trajectory of moves with constant speed approaching the
same orientation as uI. The speed is almost proportional to the T= sin (w,t +a )
amplitude of U,.
Fig. 4 shows the relationship between the locus of and
selected voltage vectors to follow a circular reference I *.
The selection of V(S,, S,, S,) is made to retain the flux
amplitude error within the specified limits set by a hysteresis
band of width Al$ll, i.e.,
l ~ l l * - ~ l ~ l l ~ ~ ~ l ~ ~ l ~ l ~ l l * + ~ l $ l l ~ ~ .
The voltage vector selection algorithm depends not only on where
the amplitude error but also on the direction of G I . As shown
in Fig. 4, the angle between the voltage vectors at switching z = [ R: + ( ~ , 1 ) ~ ]and a = tan - I (a,1/R2).
TAKAHASHI AND OHMORI: DIRECT TORQUE CONTROL OF INDUCTION MOTOR
“T ws=2n*25
time (ms )
Fig. 5. Torque response for step change of U,.
tirre(m5 )
Fig. 6. Relations between torque and voltage vector groups.
Assuming that the speed response is very slow in compari-
son with the torque response, the fastest response can be
obtained by changing the slip frequency as much as possible.
This means that the maximum rate of increase for the
torque, i.e., the minimum torque response time, is achieved
by controlling the inverter maximum frequency under the
condition of constant 1.
Fig. 6 shows the torque control scheme based on this
principle. When the torque T increases and reaches the upper
hysteresis limit T* + T l / 2 ,it is better to decrease T as slowly
as possible to reduce the inverter switching frequency. The
slowest decay rate for the torque can be obtained by using the
intermediate amplitude vector group VI, -
, V, at rather
high-speed operation and the zero vector V, at low-speed
operation. These vectors are selected until the torque T
reaches the lower hysteresis limit T* - A T l / 2 . Using this
technique, the torque error is limited within AT.
Fig. 7 shows the method for choosing the desired voltage
vector of the large-amplitude group (LG) and the middle-
amplitude group (IG), or the middle and the zero-amplitude
voltage group (ZG).
Fig. 7 is composed for four hysteresis loops. Loop 1,
employing LG vectors and IG vectors sequenced to produce
clockwise rotation, is used during clockwise high-speed
operation or at times when large clockwise impulse torque is
required.
259
clock
wise
counte
clock
wise
Fig. 7.
r:g.l
Four-loop hysteresis comparator.
Fig. 8. Voltage vector to generate desired flux.
The IG and ZG vector loops are mainly used at low speeds
or steady-state operation. Switching between the hysteresis
loops occurs automatically by detecting the saturation of the
loops. When loop 2 saturates at its upper limits, the compara-
tor detects a saturation level AT2/2 which is slightly larger
than A T l / 2 and causes the control to switch to loop 1.
Similarly, when loop 1 is undersaturated, the loop is switched
over to loop 2.
The selection of the inverter switching elements is designed
to achieve the following performance objectives, arranged in
order of control priority (1 is highest):
1) fast dynamic torque control,
2) regulation of the primary flux linkage,
3) reduction of the zero phase sequence current, and
4) minimization of the inverter switching frequency.
OF THE PWM INVERTER
IV. SWITCHING
In this section, the algorithm for selecting the voltage vector
which controls both torque and flux simultaneously is de-
scribed. Fig. 8 shows the relation of the desired vector u I to
generate flux $, and several voltage vectors V2, V8, V3,and
VI, which are neighbors of vector VI. From (2), since the
desired voltage vector is advanced by 90°, $I can be rotated
clockwisely by using one of the vectors V,, V3, V8, or v15.
Vectors V3 and VI5 can decrease the amplitude of IG1l with
time, whereas vectors V2 and V8 increase 1. The rotating
speed 0 of the flux is minimized by selecting Vo, has
intermediate values using v 2 or V3,and is maximized by v8 or
VIS.
Therefore, in the case of small flux rotating speeds when e
decreasing torque is required, the optimum voltage vector
would be Vo. In the case when both torque and flux are
required to increase, the optimum voltage vector is V2.When
increasing torque and decreasing flux are required, the
260 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 2 5 , NO. 2, MARCHIAPRIL 1989

tv
-
7
T O
2 0
2 1
1 0
1 1
0 0
0 1
-1 0
-1 1
-2 0
-
-2 1

~@ -2
t Io
I

Fig. 10. Switching table for decreasing io.

Fig. 9. Optimum switching table and controller.
in Fig. 10, io would be increased most rapidly by selecting the
optimum voltage vector is V,. As mentioned before, in the table (E, E , E ) , i.e., uo = 3E rather than (0, 0, 0), i.e., uo =
e,
case of large the inverter switching is done between the Vz, 0. However, due to the high voltage of uo, the rate of the io
V3 group and the V,, V I ,group. On the other hand, for small current increase is very large in this case. Therefore, to reduce
e, the inverter switching is done between the Vz, V3group and the switching frequency, it is better to use the vector (0, 0, 0),
the VOgroup. Thus the optimum switching can be uniquely i.e., uo = 0 rather than the vector (E, E , E ) . In this case, io is
selected by using the methods already described. kept almost constant until the next switching mode. The
Fig. 9 shows the optimum voltage vector table. The torque suppression of io within the desired limits is not always
error T* - T and the flux error I I * - I I are digitized by realized during normal operation due to its low control
four-loop and one-loop hysteresis comparators, respectively. priority.
A 3-bit signal T , a 1-bit signal 4, and a 4-bit signal 8, are As shown in Fig. 3, the switching redundancies of Voand
developed. 0, is the angle signal for which divides the the VI, * , V6 group are three and two, respectively. If
switching plane into 12 areas. switching to decrease the zero phase sequence current is
The switching mode redundancy provided by the inverter required, the inverter must be changed to another switching
can be used as previously mentioned for suppressing the zero pattern while retaining the same voltage vector. Since voltage
phase sequence current permitted by the open-delta connec- vectors in the VI3, , VI, group have one switching
tion. That is, some of the voltage vectors can be produced by redundancy, switching to decrease io requires that the voltage
several different switch mode combinations, leaving the volt- vector be switched to the neighboring group V,, * * , VIZ,
age vector unchanged. The zero phase sequence voltage uo which has uo = 0, detecting the angle of 8,. The priority
developed by the inverters is given by controls for generating optimum torque, flux, and zero phase
sequence current uniquely select one voltage vector at every
uO= U, + ub + U,. (6) time instant.
Then the zero phase sequence current io is represented as The next task is to select the switching condition of the
inverters for a given voltage vector. It can be considered that
+
uo = (Ro+ Rl)io+ (1 3L0)di0/dt (7) two sets of three-phase inverters in Fig. 2 are equivalent to
three sets of single-phase bridge inverters. For example, when
where Ro and Lo are the resistance and the reactance of the the line-to-line voltage U, = E , or - E , the switching
zero phase reactor. Equations (6) and (7) indicate that the condition (SI,Sib) in Fig. 2 is uniquely determined as (1, 0)
increase or decrease of io is determined by the polarity of uo. and (0, l), respectively. When U, = 0, however, two
Fig. 10 shows a switching table for suppressing the zero switching modes (0, 0) and (1, 1) can be selected. For
phase sequence current. By using a three-level comparator, io equalizing the switching frequency of each device, it is
is compared with the limits %Aio setting the comparator desirable to select modes (0, 0), and (1, 1) alternately.
output Io to 1, 0, or - 1. In the case of Io = 1, a negative value Fig. 11 shows the switching frequency equalization circuit
of Vo is desired to reduce io, but the minimum number of already described. A separate equalization circuit is necessary
switch mode changes is also desired to minimize the average for each individual phase. In this figure, the input signal u,*(x
switching frequency. = a, b, c) represents phase voltage reference for the bridge
For example, under the condition of VO,n odd and Io = - 1 inverter. To get the desired control, the previous switching
TAKAHASHI AND OHMORI: DIRECT TORQUE CONTROL OF INDUCTION MOTOR 26 1
r

s2x

latch
sigMl

++D
m
7 * d o n ‘ t care ’(x-a,b,c)

Fig. 11. Switching frequency equalizing circuit.

signal (SIX, Sk) and the signal Soxare necessary. Soxindicates

whether the changed signal during the previous cycle was SIX
or S,. When the changed signal was SIX, Sox = 1, and when
the changed signal was S,, Sox= 0.

Experimental Systems
Using vector notation, the torque of the two-pole induction
motor can be written as

T=$, * (-jil). (8)

This equation can be rewritten using d-q axis components as

T = $I& - $ l q i l d (9)
where

$Id= j (Uld-Rlild) dt
$lq= j ( u I ~ - R I ~dt.I ~ ) (10) Fig. 12. Configuration of proposed system.

A flux estimator using simple op-amp integrators to

calculate and $ l q has high drift levels for low-frequency
operation. In [4], a more precise flux observer was developed.
The measured flux amplitude 1 and torque Terrors are
digitized using a hysteresis comparator and a five-level
hysteresis comparator, respectively. The angle 8, of is also
digitized into 12 sectors as shown in Table I.
Fig. 12 represents the total configuration of the proposed
control system. The three-phase line-to-line voltages u I and the
line current il are transformed into d-q components. Using
(lo), the primary flux linkages are estimated using
integrators. The amplitude 1$11 and its sector angle 8, are
determined from the following equation and Table I, respec-
tively:
Three bits of 7,one bit of 4, 4 bits of 8, and 2 bits of IOare
used to address a I-kbit ROM table. In this figure, the signal 7
is determined by the four-stage hysteresis loop shown in Fig.
7. The output of the ROM is not the switching condition of the
inverter but the line-to-line voltage references U;, U:, and U,*.
The switching condition of the individual inverter is deter-
mined by using the circuit shown in Fig. 11.
V. FREQUENCY
RESPONSE OF TORQUE
Fig. 13 shows the experimental results for a torque step
response. A response time of 300 ps for a step change of - 9
to 9 N * m (rated torque) is observed. From (5), the rate of
torque increase is approximately expressed as

dT/dt = ( P M 2\ $ I I 2 ~ s ) / L I/(LIlL22
I - M 2 ) / 2 . (12)
262 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 25, NO. 2, MARCHIAPRIL 1989

Fig. 13. Experimental result of torque step response

TABLE I1
INDUCTION MOTORPARAMETERS

Rated power 1.5 kW Number of pole P = 4

L , , = L22 = 87.5 mH M = 83.8 mH
E = 273 V = 0.5 Wb

In the case of locked rotor conditions, the slip frequency W, is (b)

Fig. 14. Frequency characteristic of torque. (a)fr = 200 Hz. ( b ) f r = 1.5
identical to the rotating speed of the primary flux. liHZ.
Under these conditions U, is given by
-
w s = J2/3E/I ~1 I. (13)
--

Experiments were carried out to verify the feasibility of the - w--_ _

rn
‘CI
--
~. r a t e d torque
proposed control using a 1.5-kW three-phase induction motor. v

The maximum forcing voltage applied to the motor is 2.9

t- --- -
times the rated voltage. The machine constants are listed in v

M 0-.
0 -
Table 11. Substituting these parameters into (12) and (13), a U
r(
..
calculated value of dT/dt = 5.6 x lo4N.m/s is obtained for N

I
the locked rotor condition. This value corresponds to 322 ps, ; fc-Zkkh
which is almost the same as the step response measured from I

P H
the experimental results.
Fig. 14 shows the sinusoidal response of the torque with
frequency (fr). Fig. 14(a) is the case forfr = 200 Hz, and its
lag time is almost zero. Fig. 14(b) is for fr = 1.5 kHz. The
amplitude of the output torque is slightly larger than that of the
reference because of the hysteresis torque control.
Fig. 15 shows the frequency characteristics of the torque for
the torque reference amplitudes of 13.5, 8.9, and 4.3 Nem.
The cutoff frequency of the system at the rated torque (8.9
N*m) is about 2 kHz. These results may represent a world
record for such a large induction motor drive system.
The mean switching frequency for operation with a torque
reference frequency of fr = 5 kHz is slightly higher than 1
kHz. Since the inverter has six switching arms, the idealized Fig. 16. Step response of speed
switching pattern for this same operating point would yield a
somewhat lower mean switching frequency of 5000/6 = 833
Both the harmonic torque and flux are restricted within the
Hz .
hysteresis bands with minimized switching frequency. There-
Fig. 16 shows a velocity step response obtained from the
fore, the acoustic noise and the temperature rise of the motor is
experimental drive system. A proportional-integral (P-I)
very small in comparison with that of a conventional inverter
speed controller is used to get the torque reference signal T*,
drive system. The quality of the motor noise is quite different
and the flux reference 1 1 * is set at its maximum value, 0.5
from the case of the conventional PWM inverter drive-motor.
Wb. The maximum impact torque is 180 N * m , which
It sounds broad-band in nature rather than a miscellaneous
corresponds to 20 times the rated torque. The current in this
monotone.
instant is 125 A, which is 12 times the rated current. The zero
phase sequence current io is limited within 2.0 A . VI. COMPARISON CONTROL
WITH ANOTHER
The - 500 to + 500-r/min velocity step response time of
The following control schemes are compared:
4.0 ms is obtained under no-load conditions. These results
may represent the world record for induction motors rated at 1 Scheme 1 (Fig. I7(a)): field-oriented control employing an
kW or more. instantaneous current-controlled inverter using the same con-
TAKAHASHI AND OHMORI: DIRECT TORQUE CONTROL OF INDUCTION MOTOR 263

-0.8 1 -40 1 -48 1

(C)
Fig. 17. Comparison with field-oriented control and proposed control. (a)
Field-oriented control. (b) Direct torque control by single inverter. (c)
Direct torque control by double inverters.

figuration inverter as shown in Fig. 2;

Scheme 2 (Fig.17(b)): proposed control employing one set
of three-phase PWM inverter having a dc link voltage of E ;
Scheme 3 (Fig. 17(c)): proposed control employing the
configuration as shown in Fig. 2 .
Schemes 1 and 3 are compared under the same switching
frequency of 600 Hz in steady state. The simulation results
show that these speed responses are almost the same. How-
ever, the torque ripple and the amplitude of the current of the
3 "^'&
proposed system is decreased to about 70 percent of that of the
field-oriented control.
0.0 10 20 30 40 50
J
Schemes 2 and 3 display comparable values of torque
fundamental frequency (Hz)
ripple, and the speed responses are almost the same for both
cases. However, the switching frequency of scheme 2 is 1.5 Fig. 18.2.0Mean N.m,
switching frequency under steady state and no load. AT, =
= 0.55 Wb, Al$,l = 0.02 Wb, i = 2.0 A.
kHz, which is about 2.5 times the value for scheme 3.
Fig. 18 shows the mean switching frequency of switching inverter can supply the required current instantaneously to
devices for schemes 2 and 3. These results are compared for generate the torque. It is very easy to calculate the optimum
the same torque ripple amplitude and peak line-to-line volt- voltage vector using the proposed scheme since the system
ages. uses a voltage source control.
The switching frequency is almost constant for scheme 3
and limited within 600 Hz. This permits the use of large- VII. CONCLUSION
capacity GTO switching elements without increasing torque A newly developed direct torque control for an induction
ripples and harmonic currents. motor using two sets of three-phase inverters has been
It has been said that a field-oriented controller can achieve presented. The control scheme is quite different from field-
instantaneous torque response, but this is true only when the oriented control, because it depends on the concept of the
264 IEEE TRANSACTIONSON INDUSTRY APPLICATIONS, VOL. 25, NO. 2, MARCHlAPRIL 1989
instantaneous slip frequency control in spite of the magnetic
force. This paper especially proposes switching methods for a
large-capacity inverter control system using a priority control
scheme. Through experimental and simulation techniques, the
validity of the proposed system has been examined. The main
results obtained in this paper are as follows.
1) The adopted dual three-phase inverter can deliver 19
different voltage vectors (approximately 2.5 times as many as
for a single bridge) using 64 switch position combinations.
The redundancy of the switching combinations is employed by
the priority control.
2) The measured frequency response of the torque exceeds 2
kHz for the rated torque amplitude. This experimental result
may represent a world record.
3) Impact torque values of about 20 times the rated torque
have been achieved. These high torques make possible the fast
velocity loop response time of 4 ms for a - 500 to + 500 rlmin
step change.
4) The switching frequency of the proposed system is 1/2.5
of the frequency for the single-bridge inverter under the same
conditions of torque ripple amplitude. It makes use of a GTO
inverter drive.
These results show that the new control schemes are more
suitable for high-speed servo systems than field-oriented
control in all respects.
ACKNOWLEDGMENT
The authors would like to express their appreciation to Mr.
I. Miyashita of Toyo Electric Co. Ltd and the Power
Electronics Laboratory members of the Nagaoka University of
Technology.
REFERENCES
A. Nabae, K. Otuka, H. Uchino, and R. Kurosawa, “An approach to
[I]
flux control of induction motors operated with variable-frequency
power supply,” ZEEE Trans. Znd. Appl., vol. IA-16, pp. 342-350,
1980.
[2] L. J. Garces, “Parameter adaption for the speed controlled static ac
drive with a squirrel-cage induction motor,” ZEEE Trans. Ind. Appl.,
vol. IA-16, pp. 173-178, MarJApr. 1980.
[3] K. B. Nordin, D. W. Novotny, and D. S. Zinger, “The influence of
motor parameter deviations in feedforward field orientation drive
systems,” in Conf. Rec. 1984 Ann. Meet. ZEEE Znd. Appl. Soc.,
pp. 525-531.
141 I. Takahashi and T. Noguchi, “A new quick response and high
efficiency control strategy of an induction motor,” ZEEE Trans. Znd.
Appl., vol. IA-22, pp. 820-827, 1986.
[5] I . Racz, “Dynamic behavior of inverter controlled induction motors,”
Conf.Rec. 1965 ZFAC, pp. 4B.1-4B.7.
161 K. R. Jardan, S. B. Dewan, and G. R. Slemon, “General analysis of
three-phase inverters,” ZEEE Trans. Znd. Gen. Appl., vol. IGA-5,
pp. 672-679, 1969.
Isao Takahashi (M’86) was born in Japan on
March 10, 1942. He received the B.S. degree in
1966 and the Ph.D. degree in 1971, both in
electrical engineering, from the Tokyo Institute of
Technology, Tokyo, Japan.
He was an Assistant Professor at the Tokyo
Institute of Technology from 1971 to 1975 and an
Associate Professor at Utunoniva Universitv from
1975 to 1978. He was a Visiting Associate Profes-
sor at the University of Wisconsin, Madison, In
1982. He is now a Professor in the Department of
Electrical and Electronics System Engineering at Nagaoka University of
Technology, Japan. His current research interests are in high-power optimum
control, especially motor drives, power active filters, PWM inverter control,
high-frequency power systems, flywheel energy storage systems, and power
control of an atomic fusion reactor.
Youichi Ohmori was born in Japan on December
6 , 1962. He received the M.S. degree in electrical
and electronics system engineering from Nagaoka
University of Technology, Niigata, Japan, in 1986.
In 1986, he joined the Toyo Electric Mfg. Co.,
Ltd., Kanagawa Prefecture, Japan, and his current
works are on the static power converter and motor
torque control.