
Multiscalar Model–Based Control Systems for AC Machines 27-11
z b z z z b z z b u b u u
m sf r si12 1 12 11 22 3 11 21 3 1 4 1 1
= + + − + + ,
(27.64)
z b z b z u
sf21 6 21 5 22 2
2 2 2= − + + ,
(27.65)
z b z b z b i z z b u b u u
m r sf r si22 1 22 2 21 5
2
11 12 3 2 4 2 2
= + + − − + + ,
(27.66)
where
u u u
r ry sx rx sy1
= −ψ ψ
(27.67)
u u u
r rx sx ry sy2
= +ψ ψ
(27.68)
u u u
sf sy sx sx sy1
= −ψ ψ
(27.69)
u u u
sf sx sx sy sy2
= +ψ ψ
(27.70)
u u i u i
si sx ry sy rx1
= −
(27.71)
u u i u i
si sx rx sy ry2
= +
(27.72)
27.4.3 Feedback Linearization of DFM
In accordance with the procedure described in Section 27.2, application of the nonlinear controls of the ...