I. INTRODUCTION
(2)
(7)
(8)
Fig. 3. Block diagram representation of the algorithm.
(9)
set of equations[27] which governs the dynamics of the Let where and
algorithm1: . The following theorem deals with the ex-
istence, uniqueness and stability of a periodic orbit for this dy-
namical system. The proofs are based on the Poincar theorem
and are presented in [28]. According to the Poincar theorem,
(6)
the behavior of the dynamical system near its periodic orbit can
be investigated using a discrete map. The fixed points of this
map correspond to the periodic orbits of the main dynamics and
The dot on top represents the differentiation with respect to their stability types are equivalent.
time and the error signal is . The state variables Theorem 1: Let where ,
, and directly provide instantaneous estimates of , and are real constants and is an arbitrary -pe-
the amplitude, phase angle and frequency of the extracted sinu- riodic bounded continuous function which has no frequency
soid, respectively. The totality of the undesired components and component at . With a proper choice of parameters
noise imposed on the sinusoidal component of interest is pro- , the dynamics described by (7)(9) have a unique peri-
vided by . The parameters , , and are positive num- odic orbit in space in a neighborhood of
bers which determine the behavior of the algorithm in terms of . This neighborhood is determined by the func-
convergence speed versus accuracy. This dynamics present an tion and the parameters to . Moreover, this periodic
algorithm which is capable of extracting a specified sinusoidal orbit is asymptotically stable. The periodic orbit coincides with
signal, estimating its amplitude, frequency, and phase, and ac- when is not present.
commodating variations in the amplitude, frequency and phase The theorem indicates that there is a unique periodic orbit to
of such a sinusoidal component. In practice, the frequency has which the system converges. This periodic orbit is located in a
a nominal value and varies around this nominal value. The neighborhood of the ideal desired component. The tighter this
second and third equations in (6) may be rearranged in terms of neighborhood is, the more accurately the desired component is
the deviation element . An implementation of this estimated. The extent of this neighborhood is determined by the
system is shown in Fig. 3 with three integrators for three state level of pollution and the step sizes , , and .
variables. The small values for step sizes and result in a refined
Fig. 3 shows implementation of the algorithm in the form of periodic orbit in a tight neighborhood. On the other hand, the step
the composition of simple blocks suitable for schematic software sizes determine the speed of the convergence to the solution of
development tools. Numerically, a possible way of writing the the differential equations. As well, if the parameters in the input
set of equations governing the present algorithm in discrete form, function (including amplitude and phase angle) vary with time,
which can be readily used in any programming language, is the desired solution will follow those variations provided that the
speed of the convergence to the solution, determined by the step
sizes, is sufficiently high. A tradeoff, therefore, exists between
the transient convergence speed and the steady state accuracy.
The dynamics of the algorithm presents a notch filter in the
sense that it extracts (i.e., lets pass through) one specific sinu-
1Strictly following the least squares error minimization using the method of soidal component and rejects all other components including
gradient descent results in a time-varying set of equations in which the time vari- noise. It is adaptive in the sense that the notch filter accommo-
able t is explicitly present in the equations. In the equations presented here, the dates variations of the characteristics of the desired output over
time variable t is replaced by a constant number. This replacement converts the time. The center frequency of such an adaptive notch filter is
time-varying system into a time-invariant system. The apparently arbitrary for-
mulation of the algorithm calls for mathematically rigorous justification which specified by the initial condition of frequency . In Fig. 3 this
is presented in [28]. initial value, , is explicitly shown for easy visualization.
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in Proc. Int. Conf. Electrical Machines, Oxford, U.K., 1993, pp. 97102. Hugh Douglas (S03) received the Bachelors and
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for induction motor rotor faults diagnosis?, IEEE Trans. Energy Con- Rondebosch, South Africa, in 1997 and 2000, respec-
version, vol. 18, pp. 238244, June 2003. tively. He is currently working toward the Ph.D. de-
[7] W. T. Thomson and I. D. Stewart, On-line current monitoring for fault gree in electrical engineering at Clarkson University,
diagnosis in inverter fed induction motors, in Proc. Third Int. Conf. Potsdam, NY.
Power Electronics and Variable Speed-Drives, London, U.K., 1994, pp. He is a faculty member at the University of Cape
6673. Town, where he specializes in the fields of power
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1368 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 40, NO. 5, SEPTEMBER/OCTOBER 2004
Pragasen Pillay (S84M87SM92) received Alireza K. Ziarani (S99M02) received the B.Sc.
the Bachelors degree from the University of degree in electrical and communication systems engi-
Durban-Westville, Durban, South Africa, in 1981, neering from Tehran Polytechnic University, Tehran,
the Masters degree from the University of Natal, Iran, in 1994, and the M.A.Sc. and Ph.D. degrees in
Durban, South Africa, in 1983, and the Ph.D. de- electrical engineering from the University of Toronto,
gree from Virginia Polytechnic Institute and State Toronto, ON, Canada. in 1999 and 2002, respectively.
University, Blacksburg, in 1987. In 2002, he joined the Department of Electrical
From January 1988 to August 1990, he was with and Computer Engineering, Clarkson University,
the University of Newcastle-upon-Tyne, U.K. From Potsdam, NY, where he is presently an Assistant
August 1990 to August 1995, he was with the Univer- Professor. He is also the co-founder of Signamatic
sity of New Orleans. Currently, he is with Clarkson Technologies, Toronto, ON, Canada. His research
University, Potsdam, NY, where he is a Professor in the Department of Elec- interests include nonlinear adaptive signal processing, biomedical engineering,
trical and Computer Engineering and holds the Jean Newell Distinguished Pro- embedded systems design, and the theory of differential equations.
fessorship in Engineering. He is also an Adjunct Professor at the University of
Cape Town, Cape Town, South Africa. His research and teaching interests are
in modeling, design, and control of electric motors and drives for industrial and
alternate energy applications.
Dr. Pillay is a member of the IEEE Power Engineering, IEEE Industry Appli-
cations (IAS), IEEE Industrial Electronics, and IEEE Power Electronics Soci-
eties. He is a member of the Electric Machines Committee and Past Chairman of
the Industrial Drives Committee of the IAS and Past Chairman of the Induction
Machinery Subcommittee of the IEEE Power Engineering Society. He currently
chairs the Awards Committee of the IAS Industrial Power Conversion Depart-
ment. He has organized and taught short courses in electric drives at IAS Annual
Meetings. He is a Fellow of the Institution of Electrical Engineers, U.K., and a
Chartered Electrical Engineer in the U.K. He is also a Member of the Academy
of Science of South Africa. He was also a recipient of a Fulbright Scholarship.