{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,27]],"date-time":"2026-05-27T17:51:45Z","timestamp":1779904305080,"version":"3.53.1"},"reference-count":41,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2013,12,10]],"date-time":"2013-12-10T00:00:00Z","timestamp":1386633600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Physical sensors have a key role in implementation of real-time vector control for an induction motor (IM) drive. This paper presents a novel boundary layer fuzzy controller (NBLFC) based on the boundary layer approach for speed control of an indirect field-oriented control (IFOC) of an induction motor (IM) drive using physical sensors. The boundary layer approach leads to a trade-off between control performances and chattering elimination. For the NBLFC, a fuzzy system is used to adjust the boundary layer thickness to improve the tracking performance and eliminate the chattering problem under small uncertainties. Also, to eliminate the chattering under the possibility of large uncertainties, the integral filter is proposed inside the variable boundary layer. In addition, the stability of the system is analyzed through the Lyapunov stability theorem. The proposed NBLFC based IM drive is implemented in real-time using digital signal processor (DSP) board TI TMS320F28335. The experimental and simulation results show the effectiveness of the proposed NBLFC based IM drive at different operating conditions.<\/jats:p>","DOI":"10.3390\/s131217025","type":"journal-article","created":{"date-parts":[[2013,12,10]],"date-time":"2013-12-10T12:32:12Z","timestamp":1386678732000},"page":"17025-17056","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Sensored Field Oriented Control of a Robust Induction Motor Drive Using a Novel Boundary Layer Fuzzy Controller"],"prefix":"10.3390","volume":"13","author":[{"given":"Ali","family":"Saghafinia","sequence":"first","affiliation":[{"name":"UMPEDAC, University of Malaya, Kuala Lumpur 50603, Malaysia"},{"name":"Electrical Engineering Department, Islamic Azad University Majlesi Branch,  Esfahan, 8631656451, Iran"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hew","family":"Ping","sequence":"additional","affiliation":[{"name":"UMPEDAC, University of Malaya, Kuala Lumpur 50603, Malaysia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mohammad","family":"Uddin","sequence":"additional","affiliation":[{"name":"Electrical Engineering Department, Lakehead University, Thunder Bay, ON P7B 5E1, Canada"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2013,12,10]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"4031","DOI":"10.3390\/s120404031","article-title":"Sensor and sensorless fault tolerant control for induction motors using a wavelet index","volume":"12","author":"Gaeid","year":"2012","journal-title":"Sensors"},{"key":"ref_2","first-page":"2000","article-title":"High performance induction motor drive using hybrid fuzzy-pi and pi controllers: A review","volume":"5","author":"Saghafinia","year":"2010","journal-title":"Int. Rev. Electr. Eng. IREE"},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"354","DOI":"10.1109\/TIE.2009.2034285","article-title":"Fuzzy logic and sliding-mode controls applied to six-phase induction machine with open phases","volume":"57","author":"Fnaiech","year":"2010","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"394","DOI":"10.1109\/TEC.2009.2036445","article-title":"Mras sensorless vector control of an induction motor using new sliding-mode and fuzzy-logic adaptation mechanisms","volume":"25","author":"Gadoue","year":"2010","journal-title":"IEEE Trans. Energy Convers."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"553","DOI":"10.1109\/TIE.2009.2036023","article-title":"Adaptive sliding-mode neuro-fuzzy control of the two-mass induction motor drive without mechanical sensors","volume":"57","author":"Dybkowski","year":"2010","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"1530","DOI":"10.1109\/TPEL.2011.2161488","article-title":"Fuzzy sliding mode speed controller for pm synchronous motors with a load torque observer","volume":"27","year":"2012","journal-title":"IEEE Trans. Power Electron."},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Saghafina, A., Ping, H.W., Uddin, M.N., and Gaied, K.S. (2012, January 7\u201311). Adaptive Fuzzy Sliding-Mode Control into Chattering-Free Induction Motor Drive. Las Vegas, NV, USA.","DOI":"10.1109\/IAS.2012.6374028"},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"700","DOI":"10.1109\/TFUZZ.2010.2047506","article-title":"Robust adaptive sliding-mode control for fuzzy systems with mismatched uncertainties","volume":"18","author":"Jinhui","year":"2010","journal-title":"IEEE Trans. Fuzzy Syst."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"3394","DOI":"10.1109\/TIE.2009.2022518","article-title":"A class of speed-sensorless sliding-mode observers for high-performance induction motor drives","volume":"56","author":"Lascu","year":"2009","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_10","first-page":"53","article-title":"Chattering reduction of sliding mode control by adopting nonlinear saturation function","volume":"143","author":"Cheng","year":"2011","journal-title":"Adv. Mater. Res."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"392","DOI":"10.1002\/asjc.195","article-title":"Chattering reduction of sliding mode control by low pass filtering the control signal","volume":"12","author":"Tseng","year":"2010","journal-title":"Asian J. Control"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"855","DOI":"10.1166\/asl.2012.2306","article-title":"Research of adaptive fuzzy sliding mode control for motor servo system","volume":"6","author":"Liu","year":"2012","journal-title":"Adv. Sci. Lett."},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"420","DOI":"10.1109\/28.55972","article-title":"A simplified approach to continuous on-line tuning of field-oriented induction machine drives","volume":"26","author":"Lorenz","year":"2002","journal-title":"IEEE Trans. Ind. Appl."},{"key":"ref_14","unstructured":"Slotine, J.J.E., and Li, W. (1991). Applied Nonlinear Control, Prentice Hall."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"1688","DOI":"10.1109\/TIA.2009.2027521","article-title":"Sliding-mode control with double boundary layer for robust compensation of payload mass and friction in linear motors","volume":"45","author":"Cupertino","year":"2009","journal-title":"IEEE Trans. Ind. Appl."},{"key":"ref_16","first-page":"523","article-title":"Error reduction of sliding mode control using sigmoid-type nonlinear interpolation in the boundary layer","volume":"2","author":"Kim","year":"2004","journal-title":"Int. J. Control Syst."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"1309","DOI":"10.1109\/TIE.2009.2030823","article-title":"Implementation of a sliding-mode controller with an integral function and fuzzy gain value for the electrical drive with an elastic joint","volume":"57","author":"Kaminski","year":"2010","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"135","DOI":"10.1016\/S0165-0114(99)00072-X","article-title":"A new sliding-mode control with fuzzy boundary layer","volume":"120","author":"Lee","year":"2001","journal-title":"Fuzzy Sets Syst."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"3670","DOI":"10.1016\/j.cnsns.2009.01.029","article-title":"Enhanced adaptive fuzzy sliding mode control for uncertain nonlinear systems","volume":"14","author":"Roopaei","year":"2009","journal-title":"Commun. Nonlinear Sci. Numer. Simul."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"3133","DOI":"10.1109\/TMAG.2010.2051142","article-title":"Novel direct torque control based on space vector modulation with adaptive stator flux observer for induction motors","volume":"46","author":"Zhang","year":"2010","journal-title":"IEEE Trans. Magn."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"1061","DOI":"10.1109\/TIE.2011.2157286","article-title":"Dsp-based cross-coupled synchronous control for dual linear motors via intelligent complementary sliding mode control","volume":"59","author":"Lin","year":"2012","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"543","DOI":"10.1109\/TIE.2007.911943","article-title":"Wavelet denoising for electric drives","volume":"55","author":"Giaouris","year":"2008","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"7618","DOI":"10.3390\/s130607618","article-title":"Novel magnetic sensing approach with improved linearity","volume":"13","author":"Fontana","year":"2013","journal-title":"Sensors"},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"4742","DOI":"10.3390\/s130404742","article-title":"Experimental studies on model reference adaptive control with integral action employing a rotary encoder and tachometer sensors","volume":"13","author":"Wu","year":"2013","journal-title":"Sensors"},{"key":"ref_25","doi-asserted-by":"crossref","unstructured":"Novotny, D.W., and Lipo, T.A. (1996). Vector Control and Dynamics of AC Drives, Oxford University Press.","DOI":"10.1093\/oso\/9780198564393.001.0001"},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"1489","DOI":"10.1049\/ip-epa:20045253","article-title":"Adaptive fuzzy position control for electrical servodrive via total-sliding-mode technique","volume":"152","author":"Kung","year":"2005","journal-title":"IEE Proc. Electr. Power Appl."},{"key":"ref_27","doi-asserted-by":"crossref","first-page":"389","DOI":"10.1109\/TMECH.2009.2027115","article-title":"Adaptive vision and force tracking control for robots with constraint uncertainty","volume":"15","author":"Cheah","year":"2010","journal-title":"IEEE\/ASME Trans Mechatron."},{"key":"ref_28","unstructured":"Zhao, J., and Bose, B.K. (2003, January 2\u20136). Membership Function Distribution Effect on Fuzzy Logic Controlled Induction Motor Drive. New York, NY, USA."},{"key":"ref_29","unstructured":"Jin, Z., and Bose, B.K. (2002, January 5\u20138). Evaluation of Membership Functions for Fuzzy Logic Controlled Induction Motor Drive. Warsaw University of Technol., Poland."},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"73","DOI":"10.1016\/j.jterra.2011.08.002","article-title":"Fuzzy evaluation for an intelligent air-cushion tracked vehicle performance investigation","volume":"49","author":"Hossain","year":"2012","journal-title":"J. Terramech."},{"key":"ref_31","doi-asserted-by":"crossref","first-page":"1668","DOI":"10.1016\/j.asoc.2012.01.023","article-title":"Sustainable supplier selection: A ranking model based on fuzzy inference system","volume":"12","author":"Amindoust","year":"2012","journal-title":"Appl. Soft Comput."},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"85","DOI":"10.1016\/S0925-5273(02)00380-8","article-title":"Selecting the most efficient maintenance approach using fuzzy multiple criteria decision making","volume":"84","author":"Alsyouf","year":"2003","journal-title":"Int. J. Prod. Econ."},{"key":"ref_33","unstructured":"Bose, B.K. (2002). Modern Power Electronics and Ac Drives, Prentice Hall PTR."},{"key":"ref_34","unstructured":"Palm, R. (1992, January 8\u201312). Sliding Mode Fuzzy Control. San Diego, CA, USA."},{"key":"ref_35","doi-asserted-by":"crossref","first-page":"1063","DOI":"10.1109\/9.508917","article-title":"Chattering reduction and error convergence in the sliding-mode control of a class of nonlinear systems","volume":"41","author":"Kachroo","year":"1996","journal-title":"IEEE Trans. Autom. Control"},{"key":"ref_36","unstructured":"Franklin, P., and Powell, J.D. (2006). Emami-naeini's Feedback Control of Dynamic Systems, Pearson Prentice Hall."},{"key":"ref_37","unstructured":"Cheng, Q., and Yuan, L. (2011). Vector Control of an Induction Motor based on a DSP. [MS.c. Thesis, Chalmers University of Technology]."},{"key":"ref_38","doi-asserted-by":"crossref","first-page":"407","DOI":"10.3390\/a6030407","article-title":"Noise reduction for nonlinear nonstationary time series data using averaging intrinsic mode function","volume":"6","author":"Premanode","year":"2013","journal-title":"Algorithms"},{"key":"ref_39","doi-asserted-by":"crossref","first-page":"10266","DOI":"10.3390\/s111110266","article-title":"Improved kalman filter method for measurement noise reduction in multi sensor rfid systems","volume":"11","author":"Eom","year":"2011","journal-title":"Sensors"},{"key":"ref_40","doi-asserted-by":"crossref","first-page":"8042","DOI":"10.3390\/s130608042","article-title":"Extending the gmr current measurement range with a counteracting magnetic field","volume":"13","author":"Poon","year":"2013","journal-title":"Sensors"},{"key":"ref_41","doi-asserted-by":"crossref","first-page":"6593","DOI":"10.3390\/s110706593","article-title":"An optical AC voltage sensor based on the transverse pockels effect","volume":"11","author":"Pan","year":"2011","journal-title":"Sensors"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/13\/12\/17025\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T21:51:14Z","timestamp":1760219474000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/13\/12\/17025"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2013,12,10]]},"references-count":41,"journal-issue":{"issue":"12","published-online":{"date-parts":[[2013,12]]}},"alternative-id":["s131217025"],"URL":"https:\/\/doi.org\/10.3390\/s131217025","relation":{},"ISSN":["1424-8220"],"issn-type":[{"value":"1424-8220","type":"electronic"}],"subject":[],"published":{"date-parts":[[2013,12,10]]}}}