710

IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 20, NO. 4, DECEMBER 2005

MRAS Observer for Sensorless Control of Standalone

Doubly Fed Induction Generators
Roberto Crdenas, Member, IEEE, Rubn Pea, Member, IEEE, Jos Proboste, Greg Asher, Senior Member, IEEE,
and Jon Clare, Senior Member, IEEE

AbstractThis paper presents an analysis of a model reference

adaptive system (MRAS) observer for the sensorless control of a
standalone doubly fed induction generator (DFIG). The analysis
allows the formal design of the MRAS observer of given dynamics
and further allows the prediction of rotor position estimation errors under parameter mismatch. The MRAS observer analysis is
experimentally implemented for the vector control of a standalone
DFIG feeding a load at constant voltage and frequency. Experimental results, including speed catching of an already spinning
machine, are presented and extensively discussed. Although the
method is validated for a standalone generator, the proposed
MRAS observer can be extended to other applications of the
doubly fed induction machine.
Index TermsInduction generator, induction motor drives,
wind energy.

NOMENCLATURE

,
,

General
Stator or rotor flux.
Magnetizing, rotor, stator inductance.
Rotor, stator resistance.
Stator or rotor current.
Stator or rotor voltage.
Stator leakage coefficient.
Total leakage coefficient.
Electrical torque.
Time constant.
Number of poles.
Induction machine rotational speed.
Electrical frequency.
Slip frequency.
Rotor position angle.
Slip angle.
Electrical angle.
Magnetizing current.
Superscripts
Estimated value.
Demanded value.

Manuscript received February 2, 2004; revised June 1, 2004. This work was
supported in part by Fondecyt under Grant 1010942, in part by The British
Council, and in part by The University of Magallanes. Paper no. TEC-000192004.
R. Crdenas, R. Pea, and J. Proboste are with the Electrical Engineering Department, University of Magallanes, Punta Arenas, Chile (e-mail:
rcd@ieee.org).
G. Asher and J. Clare are with the School of Electrical and Electronic
Engineering, University of Nottingham, Nottingham NG7 2RD, U.K. (e-mail:
Greg.Asher@nottingham.ac.uk).
Digital Object Identifier 10.1109/TEC.2005.847965

,
0

Subscripts
Stator fixed coordinates.
Synchronous rotating coordinates.
Rotor or stator quantities.
Quiescent point.
I. INTRODUCTION

HE doubly fed induction generator (DFIG) has become

one of the main generators for high-power variable speed
wind energy conversion systems (WECS). It has many advantages when compared with the squirrel-cage induction generator
[1], [2] since the power converters are in the rotor circuit and,
for restricted speed range applications, are rated at only a fraction of the machine nominal power [1]. For the DFIG, sensorless operation is desirable because the use of a position encoder
has several drawbacks in term of robustness, cost, cabling, and
maintenance.
Sensorless control of the variable speed doubly fed induction
machine (DFIM) has been addressed by several researchers
[3][10]. The earliest [3] proposes a rotor flux-based estimator
involving the integration of the rotor back-electromotive force
(emf). This suffers from integration problems at low and
zero rotor frequency and gives poor performance for operation
around synchronous speed. The sensorless control methods presented in [4][8] are based on rotor current estimators in which
the estimated current is compared to the measured current and
the rotor position is derived using an open-loop mathematical
identity. The rotor speed is obtained via differentiation. In [4],
for example, the rotor current is estimated in the stator frame
using stator variables, while in [6], the commercial product
ROTODRIVE is presented in which an alternative rotor current
estimator is proposed using load active and reactive power. In
[7], a simpler implementation is proposed at the cost of reduced
dynamics. It is noted that in all of these publications, the rotor
position accuracy and effect of parameter errors have not been
addressed. The system dynamics and the formal estimator
design procedures were also not considered.
This paper considers a stator-flux-based model reference
adaptive system (MRAS) structure for observing the rotor
position and speed of a DFIM. The similar rotor-flux based
MRAS applied to the squirrel-cage induction machine is well
known [11]. The method has the advantages of simplicity and
is amenable to analysis [12]. However, when applied to a cage
machine, it suffers from integrator drift effects at low excitation
frequency and its performance is dependent on resistance
parameters. As will be shown in this paper, neither of these

0885-8969/$20.00 2005 IEEE

CRDENAS et al.: MRAS OBSERVER FOR SENSORLESS CONTROL OF STAND-ALONE DFIGs

711

Fig. 1. Sensorless vector-control scheme for a standalone DFIG.

effects occur when applied to a DFIM. The MRAS method has

been reported in [9] and [10] in which simulations only were
presented for a DFIM operating at very low speed. As with
other research into sensorless methods, the observer dynamics,
the control design procedure, the sensorless accuracy, and the
effect of parameter variations are not considered in [9] and [10].
These issues will be addressed in the present paper. Experimental validation over the speed ranges commonly associated
with DFIGs will also be presented. The stator flux-based MRAS
observer will be presented in its application to a vector-controlled standalone DFIG. However, it is understood that the
principle of the MRAS structure is extendable to other DFIM
drive applications. Finally, the paper will also cover the starting
regime in which the sensorless algorithm catches the speed of
the pre-revolving shaft.

voltages. The machine equations written in a synchronously

reference frame are [1], [2], and [13]
rotating
(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
(9)

II. VECTOR CONTROL OF INDUCTION GENERATORS

FOR STANDALONE OPERATION
The proposed control system is shown in Fig. 1. As is
appropriate for a standalone application, the vector control
scheme is indirect [13] and contains demands for frequency
and magnetizing current to set the constant stator frequency and
voltage (stator resistance compensation is omitted for simplicity)
in the absence of a grid connection and irrespective of shaft
speed. The scheme is suitable for a variable speed diesel or
wind drive. The MRAS observer is represented by the block
diagrams inside the dotted box. Its output is the rotor angle
used to modulate/demodulate the rotor currents and reference

is supplied
where the equivalent stator magnetizing current
axis of the reference
entirely from the rotor. Aligning the
frame on the stator flux vector gives
(10)
using the definition for
Eliminating
using (10) yields, with
eliminating

given in (1) and

(11)
(12)

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IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 20, NO. 4, DECEMBER 2005

where
. Since the last two terms in (5) are zero for
is seen to be small, and from (11)
constant flux operation,
can be controlled using
. The rotor
it is thus seen that
current
can be controlled according to

A. Small-Signal Model
The small-signal model for the MRAS observer is derived
coordiusing a synchronous rotating frame. The error in
nates is

(13)
which forces the orientation of the reference frame along the
stator flux vector position. The demodulation of the rotor demand voltages uses the slip angle derived from
(14)
where
is estimated from the MRAS observer. In this work,
the stator flux angle is derived from a free-running integral of the
stator frequency demand (50 Hz). This has the advantage that
the orientation is shielded from measurement noise and stator
voltage harmonics, which may be a problem in a standalone
application [13].
Since the proposed sensorless control system is not affected
by the operation of the PWM front-end converter, the control
of this converter is considered outside the scope of this paper.
A discussion about the control of the PWM front-end converter
can be found in [1] and [13].

(18)
The small-signal model for the error is
(19)
For this small-signal system, it is assumed that
. Also
, because the system is oriented along the
stator flux
. Therefore, the small-signal model for the error
is
(20)
Referring (16) to a synchronously rotating frame yields
(21)
that is, the
flux derived from the current model is not a
dc signal unless the estimated speed is equal to the real speed.
in (21) yields
Replacing
(22)

III. MRAS OBSERVER FOR DFIM

A MRAS speed observer is used to estimate the rotational
speed and rotor position of the DFIM. This observer is based on
two models [11], [12]: the voltage model and the current model.
In a stationary frame, the voltage model is used to obtain the
stator flux as

From (22), a variation

is obtained as
(23)

using (23) and assuming

),
is obtained as

, (i.e., in the quiescent point

(15)
will be small under rated
opThe stator voltage drop
eration so that the flux estimate of (15) is relatively insensitive
to . Using a stationary frame, the stator flux is obtained from
the current model as
(16)
is an estimation of the rotational speed. The current
where
is referred to the rotor frame. In the MRAS observer, the flux
obtained from (15) is used as the reference flux. By adjusting
the estimated rotational speed, the error between the reference
flux and the flux estimated from (16) is reduced. The error in
coordinates is defined as
(17)
Equations (15)(17) are used to implement the MRAS speed
observer. The error calculated using (17) is driven to zero by a
proportional-integral (PI) controller. The output of this PI controller is the estimated rotational speed used in (16). The implementation of the MRAS observer is shown in Fig. 2. The voltage
model is used to obtain the stator flux using a bandpass filter
as a modified integrator to block the dc components of the measured voltages and currents. Since and are at a frequency
well above the filter cut-off frequency, there is no deterioration
in integral action.

(24)
is obtained as

(25)
Using (20), (24), and (25), the small-signal model for the
MRAS observer is obtained. The small-signal model is shown
in Fig. 3. A sketch of the root locus, including the PI controller,
is shown in Fig. 4.
With reference to (24) and Fig. 3, it is seen that the quiescent
is used which implies that reactive power is supvalue of
plied from the rotor-side converter, which must be the case for
standalone applications. In many grid-connected applications,
especially in wind generation, reactive power generation via
will be preferred since the rotor-stator turns ratio is significantly
, then altergreater than unity. If this is not the case, and
native measures of MRAS error (e.g., rotor flux) are necessary;
such measures will be considered in a future paper.
From the control loop of Fig. 3 and the root locus of Fig. 4,
it is concluded that the bandwidth attainable with the proposed
MRAS configuration is limited only by noise considerations.
B. Speed Catching Operation of the MRAS Observer
It is desirable for a sensorless standalone DFIG to be able to
catch the rotational speed of an already spinning machine [6].

CRDENAS et al.: MRAS OBSERVER FOR SENSORLESS CONTROL OF STAND-ALONE DFIGs

713

chronism is achieved, grid connection is enabled and the mode

of vector control is changed to direct stator flux orientation [16].
C. Machine Parameter Sensitivity
For the MRAS observer proposed in this paper, incorrect estimation of the machine inductances produces an incorrect estimation of the rotor angle. This angle is used to demodulate the
rotor currents and the demanded rotor voltages. The rotor angle
estimation error can be obtained using a small-signal model. The
current model of (16) can be rewritten as

Fig. 2. MRAS observer for the DFIM.

(28)
where in (28) is referred to the stationary frame. The error in
the estimation of the rotor angle can be obtained using a
model of (28)
Fig. 3.

Small-signal model of the proposed observer.

(29)
where

. A variation

causes a flux variation

(30)

The phase variation for

can be calculated as
(31)

Fig. 4. Sketch of root locus for the control system of Fig. 3.

For the proposed sensorless systems, the speed catching procedure considers the DFIG operating with scalar control of the
rotor current magnitude and the stator load disconnected. The
voltage supplied to the machine rotor is demodulated using the
(Fig. 1)
estimated slip frequency which is calculated from
and the speed estimated from the MRAS observer.
During the speed catching procedure, the stator frequency is
since the estimated speed differs from the real
not equal to
speed. Therefore, the absolute error of the stator frequency, with
respect to the reference, can be used as an indicating parameter
coordinates for the
for the MRAS convergence. Using
stator voltage and flux, the electrical frequency can be estimated
as [15]
(26)
and the absolute value of the stator frequency error is given by
(27)
A first-order lowpass filter is used to eliminate the high-frequency noise in
. Once the MRAS observer has estimated the rotational speed correctly, the vector control of the
rotor currents and the control of the magnetizing current
are enabled. In this work, the vector-control system is enabled
Hz.
when the filtered values of
The principle of speed catching described above can be extended to grid-connected systems. In this case, the generated
stator voltage vector under standalone control is adjusted until
it is synchronized with the supply voltage vector. When syn-

that is, if the machine is operating at steady-state and a variation

is introduced in the MRAS observer parameters, then the
phase of the estimated flux will change according to (31). This
is corrected by the PI controller of the MRAS
phase error
and
to
observer which drives the phase error between
in the estimation of
zero. However, this introduces an offset
the rotor angle. Therefore, an incorrect estimation of the term
is equivalent to using a position encoder with an offset
in the measured rotor position.
For a vector-controlled standalone DFIG, the error in the estimation of the rotor angle produces an incorrect demodulation
,
, , and
of the rotor voltages, incorrect calculations of
, incorrect estimation of the machine torque, and coupling
current control loops.
between the
Small deviations in the estimation of
do not affect
the accuracy of the steady-state speed obtained from the MRAS
observer. This is because the error of (17) is driven to a zero
steady-state value only when both the estimated and reference
flux have the same phase and frequency. From (15) and (16), it
is easily seen that the two estimates of stator flux have the same
.
frequency and phase only when
The proposed MRAS observer is mainly affected by the in. The reference flux obtained from
correct estimation of
(15) is robust against variations in the stator resistance and the
MRAS observer is not affected by rotor resistance variations because the rotor current is a measured quantity.
IV. EXPERIMENTAL RESULTS
The control system of Fig. 1 has been implemented using a
2.5-kW DFIM driven by a dc machine. The experimental rig is
shown in Fig. 5.

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IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 20, NO. 4, DECEMBER 2005

Fig. 5. Experimental rig.

Two PWM back-to-back inverters are connected to the rotor

of the machine. The rotor-side PWM inverter is controlled using
a frequency of 1 kHz. Current transducers are used to measure
the rotor and stator currents. Two voltage transducers are used
to measure the stator voltage. A speed encoder of 10 000 pulses
per revolution is used to measure the rotational speed and rotor
angle. The speed encoder is used only for comparison purposes
and to control the dc drive machine. A microprocessor board is
used to implement the MRAS observer and the whole sensorless
vector-control system.
The dc machine can be used to emulate a wind turbine or another prime mover according to the emulation technique presented in [14]. For simplicity, the paper emulates the prime
mover using a second-order lowpass filter to filter the speed step
command from the host PC (Fig. 5). The output of the filter is
the reference sent to the dc machine speed control loop which
has a natural frequency of 2 Hz; this is sufficient to perform
the emulation considering the frequency content of most wind
profiles.
Fig. 6 shows the speed catching performance of the MRAS
r/min. The top graphic shows the estiobserver with
mated speed and the bottom shows the rotor position error. The
MRAS speed observer converges after 18 s.
Fig. 7 shows the stator frequency and magnetizing current
during speed catching. The frequency is in the top graphic and
the magnetizing current is in the bottom graphic. The MRAS
speed observer has converged in 18 s and the stator electrical
. However, because in this
frequency is 50 Hz for
application, a relatively narrow lowpass filter is used, the algorithm automatically enables the vector-control system at about
, when the filtered frequency error is within 0.5 Hz.
This ensures that the speed estimation is stable before enabling
the closed-loop control. The magnetizing current control loop
has a demand value of 6.5 A and a natural frequency of 2 Hz;
this is sufficient to control the flux level while operating the rotor
converter within its rated current level.
axis rotor currents for the conditions
Fig. 8 shows the
of Fig. 7. When the closed-loop control is enabled, the q-axis
rotor current is controlled to zero, according to (13), to ensure
the orientation along the stator flux under no-load condition.
axis rotor current follows the output of the magnetizing
The
current control loops have a natural
current controller. The

Fig. 6. Speed catching of the MRAS observer.

Fig. 7. Stator frequency and magnetizing current during speed catching.

frequency of about 60 Hz corresponding to a step settling time

of 1015 ms. This is sufficient for the present research since
higher natural frequencies result in noisier waveforms without
observable improvement in the performance of the system.

CRDENAS et al.: MRAS OBSERVER FOR SENSORLESS CONTROL OF STAND-ALONE DFIGs

715

Fig. 10. Estimated rotor angle and estimation error for 600 r/min. Top:
estimated angle. Bottom: position error.

Fig. 8.

The d q axis rotor currents.

Fig. 11. Rotational speeds for load impacts of 1.4 kW. Top: Load
disconnection. Bottom: Load connection.

Fig. 9. Speed tracking using the MRAS observer. Top: speed change from 600
to 1350 r/min. Bottom: speed change from 1350 to 600 r/min.

Fig. 9 shows the performance of the MRAS observer tracking

the rotational speed. For this test, speed changes from 600 to
1350 r/min (top graphic) and from 1350 to 600 r/min (bottom
graphic) in approximately 4 s. The acceleration is about 190
r/min/s. Due to the large inertia of variable speed wind turbines
[14], especially in high-power applications, this acceleration is
more than that expected for a DFIG in a WECS. For these experimental results, a fixed load of approximately 1.2 kW (about
50% of nominal load) is connected to the stator. A good tracking
of the rotational speed, with an error of less than 5 r/min, has
been achieved with an MRAS observer having a closed-loop
natural frequency of 10 Hz which is about five times faster
than the 2-Hz prime mover natural frequency.
Fig. 10 shows the estimated rotor angle and the rotor-angle estimation error for steady-state operation with a rotational speed
of about 600 r/min, and 1-kW load applied to the stator. Again,

the tracking performance is excellent. According to the experimental results, the estimated rotor angle has a negligible error
,
are corin steady-state when the machine inductances
rectly estimated.
Fig. 11 shows the performance of the MRAS observer when
the DFIM is rotating at 700 r/min and a load impact of 1.4 kW
(about 60% of nominal load) is connected and disconnected
from the stator. Load connection is shown in the bottom graphic
and load disconnection is shown in the top graphic. The load
impact produces a dip and an overshoot of about 100 r/min.
The tracking of the speed by the MRAS observer is very good
in both cases. Fig. 12 shows the stator voltage corresponding
to the load impacts of Fig. 11 with the vector-control system
using the estimated rotor angle obtained from the MRAS observer (Figs. 1 and 2). The stator voltage is well regulated with
a small dip and overshoot produced by the load impacts. Fig. 13
shows the magnetizing and -axis currents corresponding to the
connection and disconnection of the 1.4-kW resistive load. The
is derived from the estimated
axis
magnetizing current
flux as depicted in Fig. 1.
The regulation of the magnetizing and -axis currents
achieved with the proposed sensorless system is good even for
this relatively large load step.

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IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 20, NO. 4, DECEMBER 2005

Fig. 15. Rotor current and rotational speeds for dynamic operation through
synchronous speed.
TABLE I
EFFECTS OF MACHINE PARAMETERS VARIATION

Fig. 12. Stator quadrature voltage for load impacts of 1.4 kW. Top: Load
disconnection. Bottom: Load connection.

Fig. 13. The i and i currents for load impacts of 1.4 kW. Top: Load
disconnection. Bottom: Load connection.

Fig. 14. Rotor current and estimated speed for synchronous operation.

Fig. 14 shows the rotational speeds and the rotor current for
steady-state operation at the synchronous velocity with 60%
of the nominal load applied to the stator. The rotor current is
a dc signal with some noise produced by the PWM switching.
Unlike previous work [3], the estimation of the rotor speed is
very good at synchronous operation because in the proposed
sensorless control system, no integration of the rotor voltage

or current is performed. Fig. 15 shows the performance of

the sensorless control system for dynamic operation through
synchronous speed. The current control loop operates with
a good dynamic response and the sensorless control system
is tracking, with a small error, the speed obtained from the
position encoder.
The effects of incorrect estimation of the machine parameters
are shown in Table I. This table shows the error in the rotor
position angles, the rotor currents, and the estimated rotational
is varied
speeds obtained experimentally when
between 7% to 13%. The speed demand is 1000 r/min and the
speed estimate has zero error in steady-state. In Table I,
is the rotor position error obtained experimentally and
is
the rotor position error obtained using (31). According to the
results shown in Table I, the experimental results are in broad
agreement with the rotor position error analysis of Section III-C.
and . For a given
Table I also shows the rotor currents
load and magnetizing current, when the rotor position angle is
incorrectly identified, the quadrature and direct currents change
although the total rotor current magnitude remains constant.
Incorrect estimation of the quadrature current produces an
incorrect value of electrical torque when calculated according
to (12). This may produce a low energy capture when control
of the DFIG electrical torque is used to drive a variable speed
WECS to the optimal tip-speed ratio of the wind turbine [1],
[13], [14], [16].
In addition to studying the effects of incorrect estimation of
, the performance of the MRAS observer has been experimentally tested for incorrect estimation of the stator resistance
of 100% of the real value. There was no noticeable effect in
performance.
V. CONCLUSION
This paper has presented an analysis and discussion of
sensorless control of DFIM using MRAS observers. Smallsignal models have been derived for the analysis and the

CRDENAS et al.: MRAS OBSERVER FOR SENSORLESS CONTROL OF STAND-ALONE DFIGs

design of the MRAS observer as well as for understanding the

effects of incorrect parameter estimation in the accuracy of the
proposed MRAS observer. The proposed sensorless scheme has
been experimentally validated both in transient and steady-state
conditions. Several tests including load impacts, transient speed
tracking performance, and speed catching on the fly have been
presented showing the excellent performance of the proposed
speed-tracking scheme. Moreover, the experimental results are
in broad agreement with the small-signal models proposed in
this paper.
Although this paper has discussed the application of an
MRAS observer for a DFIG in standalone operation, the
small-signal models and the effects of parameter sensitivity can
be extended to other applications of the DFIM, such as doubly
fed induction motor drives.

717

[11] C. Schauder, Adaptive speed identification for vector control of induction motors without rotational transducers, IEEE Trans. Ind. Appl., vol.
28, no. 5, pp. 10541061, Oct. 1992.
[12] R. Blasco-Gimenez, G. M. Asher, and M. Sumner, Dynamic performance limitations for MRAS based sensorless induction motor drives,
part 1: stability analysis for the closed loop drive, Proc Inst. Elect. Eng.
B, pp. 113122, Mar. 1996.
[13] R. Pea, R. Crdenas, G. Asher, and J. Clare, Vector controlled induction machine for stand-alone wind energy applications, in Proc. IEEE
Industry Application Annu. Meeting, Rome, Italy, Oct. 2000.
[14] R. Crdenas, R. Pea, G. Asher, and J. Clare, Emulation of wind turbines and flywheels for experimental purposes, in Proc. Eur. Power
Electron. Conf., Graz, Austria, Aug. 2001.
[15] X. Xu and D. Novotony, Implementation of direct stator flux orientation
control on a versatile DSP system, Proc. IEEE Trans. Ind. Appl., vol.
27, no. 4, pp. 694700, Jul./Aug. 1991.
[16] R. Pena, J. Clare, and G. Asher, Doubly-fed induction generators using
back-to-back PWM converters and its applications to variable-speed
wind-energy generation, Proc. Inst. Elect. Eng., B, vol. 153, no. 3, pp.
231241, May 1996.

APPENDIX
Parameters of the DFIM
Induction machine: stator 220 V delta, rotor 250 V star,
,
,
2.5 kW, six poles, 960 r/min,
,
,
. External
inductances of 30 mH have been added to the rotor.

REFERENCES
[1] R. S. Pea, G. M. Asher, and J. C. Clare, A doubly fed induction generator using back to back PWM converters supplying an isolated load from
a variable speed wind turbine, Proc. Inst. Elect. Eng., Electr. Power
Appl., pp. 380387, Sep. 1996.
[2] B. Rabelo and W. Hofman, Control of an optimized power flow in
wind power plants with doubly-fed induction generators, in Proc.
Power Electronics Specialist Conf., Acapulco, Mxico, Jun. 2003, pp.
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[3] L. Xu and W. Cheng, Torque and reactive power control of a doubly-fed
induction machine by position sensorless scheme, IEEE Trans. Ind.
Appl., vol. 31, no. 3, pp. 636641, May/Jun. 1995.
[4] U. Rdel, D. Navarro, G. Berger, and S. Berg, Sensorless field-oriented
control of a slipring induction generator for a 2.5 MW wind power plant
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Austria, 2001.
[5] R. Datta and V. T. Ranganathan, A simple position sensorless algorithm
for rotor side field oriented control of wound rotor induction machine,
IEEE Trans. Ind. Electron., vol. 48, no. 4, pp. 786793, Aug. 2001.
[6] L. Morel, H. Godfroid, A. Mirzaian, and J. M. Kauffmann, Double-fed
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without position sensor, Proc. Inst. Elect. Eng., Electr. Power Appl.,
vol. 145, no. 4, pp. 360368, Jul. 1998.
[7] E. Bogalecka and Z. Krzeminski, Sensorless control of a double-fed
machine for wind power generators, in Proc. Eur. Power Electron.
Conf.-Power Electron., Machines Control, Dubrovnik and Cavtat,
Slovenia, 2002.
[8] B. Hopfensperger, D. J. Atkinson, and R. A. Lakin, Stator-flux oriented
control of a doubly-fed induction machine without position encoder,
Proc. Inst. Elect. Eng., Electr. Power Appl., vol. 147, no. 4, pp. 241250,
Jul. 2000.
[9] R. Ghosn, C. Asmar, M. Pietrzak-David, and B. De Fornel, A MRASLuenberger sensorless speed control of doubly fed induction machine,
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2628, 2002.

Roberto Crdenas (S95M97) was born in

Punta Arenas, Chile. He received the Electrical
Engineering Degree from the University of Magallanes, Punta Arenas, in 1988 and the M.Sc. and
Ph.D. degrees from the University of Nottingham,
Nottingham, U.K., in 1992 and 1996, respectively.
From 1989 to 1991, he was a Lecturer in the
University of Magallanes. He is currently with the
Electrical Engineering Department, University of
Magallanes. His main interests are in control of
electrical machines and variable-speed drives and
renewable energy systems.
Dr. Cardenas is a member of the Institute of Electrical and Electronic Engineers.

Rubn Pea (S95M97) was born in Coronel,

Chile. He received the electrical engineering degree
from the University of Concepcion, Concepcion,
Chile, in 1984 and the M.Sc. and Ph.D. degrees from
the University of Nottingham, Nottingham, U.K., in
1992 and 1996, respectively.
Currently, he is with the Electrical Engineering
Department, University of Magallanes, Punta
Arenas, Chile. From 1985 to 1991, he was a Lecturer
in the University of Magallanes. His main interests
are in control of power electronics converters, ac
drives, and renewable energy systems.

Jos Proboste was born in Puerto Natales, Chile,

on March 21, 1976. He received the Electrical Engineering degree from the University of Magallanes,
Punta Arenas, Chile, in 2004.
Currently, he is a Research Assistant in the
Electrical Engineering Department, University of
Magallanes. His main interests are the control of
power-electronics converters and ac drives.

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IEEE TRANSACTIONS ON ENERGY CONVERSION, VOL. 20, NO. 4, DECEMBER 2005

Greg Asher (M98) received the Electrical and Electronic Engineering degree and the Ph.D. degree in
Bond Graph structures and General Dynamic Systems from Bath University, Bath, U.K., in 1976 and
1979, respectively.
He was appointed Lecturer in control with the
School of Electrical and Electronic Engineering,
University of Nottingham, Nottingham, U.K., in
1984, where he developed an interest in motor drive
systems, particularly the control of ac machines. He
was appointed Professor of electrical drives in 2000
and is currently Head of the School of Electrical and Electronic Engineering at
the University of Nottingham. He has published many research papers, received
more than $5M in research contracts, and has supervised 29 Ph.D. students.
Currently, he is Chair of the Power Electronics Technical Committee for the
Industrial Electronics Society. He was a member of the Executive Committee
of European Power Electronics (EPE) Association until 2003. He is a member
of the Institution of Electrical Engineers and is an Associate Editor of the IEEE
Industrial Electronics Society.

Jon Clare (M90SM04) was born in Bristol, U.K.

He received the B.Sc. and Ph.D. degrees in electrical
engineering from The University of Bristol.
From 1984 to 1990, he was a Research Assistant
and Lecturer at The University of Bristol, involved
in teaching and research in power-electronic systems. Currently, he is with the Power Electronics,
Machines and Control Group at the University of
Nottingham, Nottingham, U.K., where he has been
since 1990. He is a Professor in power electronics
and Head of the Research Group. His research interests are power-electronic converters and modulation strategies, variable-speed
drive systems, and electromagnetic compatibility.
Prof. Clare is a member of the Institution of Electrical Engineers and is an
Associate Editor for IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS.