*2.1. Drive's Parameters*

The main goal of this work is to study the convergence of GOA applied for the calculation of switching angles for SHE-PWM for a low-frequency VSI drive with an induction motor. Therefore, to prove the validity of results obtained by the examined algorithm, the VSI drive was modeled in MATBAL/SIMULINK and verified in the laboratory. Parameters of utilized induction motor for experiments are presented in Table 1.



Figure 1a. illustrates the topology of the VSI utilized for the purpose of this work. Figure 1b shows an equivalent circuit of a single phase of the motor applied in the SIMULINK model. Inverter's transistors were controlled by binary switching function (*SF(*ω*t)*) formed by switching angles (α) defined as angular "moments" of transistors state change (Figure 2). Switching angles are delivered by solving equations presented in this section.

**Figure 1.** Analytical schema of the considered 3 phase 2-level inverter with load (IM—Model of an induction motor) (**a**) inverter schema (**b**) equivalent circuit of one phase of induction motor (sn—Slip for n-th harmonic).

**Figure 2.** Waveform of switching function SF with quarter-wave symmetry and N switching angles.
