**7. Conclusions**

Paper proposed a new MPTFC solution for 2−level inverter-fed IM drives to address the torqueripple-phenomenon issue in MPTC. A novel design for sensorless observer centered on AFOO has been proposed. Stator flux estimation in the robust suggested observer provides a strong torque response during very low-speed operations. By introducing the recommended approach, much better steady-state stability in terms of flux/torque ripples is being observed without disturbing the dynamic response. In our proposed MPTFC, a closed feedback-loop is added to the suggested drive; consequently, uncertainties (error of estimated speed, unbalance current measurement and variance of parameters) are being compensated. Therefore, the proposed prediction approach was conducted more accurately. Moreover, the loss-minimization-criterion (LMC) is imposed that minimizes IM losses, particularly at low-speed and light loading, thus improving drive efficiency. In addition to minimizing the losses during steady-state operations, the comparative results affirm the proposed MPTFC effectiveness in achieving fewer oscillations. The proposed MPTFC approach improves IM drive robustness significantly. Finally, it should be noted that the experimental validations of the proposed control system should be considered in future work, which is not considered because of the lack of laboratory equipment and apparatus and the conditions of COVID-19.

**Author Contributions:** Conceptualization, A.G.M.A.A. and A.A.Z.D.; methodology, A.G.M.A.A. and A.A.Z.D.; software, A.G.M.A.A., H.R. and A.A.Z.D.; validation, H.R., A.G.M.A.A. and A.A.Z.D.; formal analysis, A.G.M.A.A. and A.A.Z.D.; investigation, A.A.Z.D.; resources, A.G.M.A.A., H.R. and A.A.Z.D.; data curation, A.G.M.A.A. and A.A.Z.D.; writing—original draft preparation, A.G.M.A.A. and A.A.Z.D.; writing—review and editing, A.G.M.A.A., H.R. and A.A.Z.D.; visualization, A.G.M.A.A., H.R. and A.A.Z.D.; supervision, A.A.Z.D.; project administration, A.A.Z.D.; funding acquisition, A.A.Z.D. and H.R. All authors have read and agreed to the published version of the manuscript.

**Funding:** This research received no external funding.

**Institutional Review Board Statement:** Not applicable.

**Informed Consent Statement:** Not applicable.

**Data Availability Statement:** All data are contained within the article.

**Conflicts of Interest:** The authors declare no conflict of interest.
