**A Parallel Estimation System of Stator Resistance and Rotor Speed for Active Disturbance Rejection Control of Six-Phase Induction Motor**

**Hamidreza Heidari 1,***∗***, Anton Rassolkin ˜ 1, Mohammad Hosein Holakooie 2, Toomas Vaimann 1, Ants Kallaste 1, Anouar Belahcen 1,3 and and Dmitry V. Lukichev <sup>4</sup>**


Received: 3 February 2020; Accepted: 24 February 2020; Published: 2 March 2020

**Abstract:** In this paper, a parallel estimation system of the stator resistance and the rotor speed is proposed in speed sensorless six-phase induction motor (6PIM) drive. First, a full-order observer is presented to provide the stator current and the rotor flux. Then, an adaptive control law is designed using the Lyapunov stability theorem to estimate the rotor speed. In parallel, a stator resistance identification scheme is proposed using more degrees of freedom of the 6PIM, which is also based on the Lyapunov stability theorem. The main advantage of the proposed method is that the stator resistance adaptation is completely decoupled from the rotor speed estimation algorithm. To increase the robustness of the drive system against external disturbances, noises, and parameter uncertainties, an active disturbance rejection controller (ADRC) is introduced in direct torque control (DTC) of the 6PIM. The experimental results clarify the effectiveness of the proposed approaches.

**Keywords:** active disturbance rejection controller (ADRC); direct torque control (DTC); full-order observer; sensorless; six-phase induction motor (6PIM); stator resistance estimator
