Speed control of electrical drives using classical control methods

Lennart Harnefors, Seppo E. Saarakkala, Marko Hinkkanen

Research output: Contribution to journalArticleScientificpeer-review

118 Citations (Scopus)


A classical control approach to the design and analysis of proportional-integral (PI) speed controllers for electrical drives is presented. After vindicating the fact that traditional one-degree-of-freedom PI control generally gives unsatisfactory performance, a well-performing two-degree-of-freedom PI controller is designed, with analytical parameter selection. The robustness of the obtained closed-loop system is analyzed and is found to be satisfactory. All the proposed control designs are validated by means of experiments.
Original languageEnglish
Pages (from-to)889-898
JournalIEEE Transactions on Industry Applications
Issue number2
Publication statusPublished - 1 Feb 2013
MoE publication typeA1 Journal article-refereed


  • analytical tuning
  • disturbance rejection
  • pre-filtering
  • robustness
  • speed control
  • tracking performance
  • two-degree-of-freedom (2DOF) proportional (P)–integral (PI) control


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