University of Utah

Department of Electrical and Computer Engineering

ECE 5670/6670                     Control of Electric Motors                 Spring 2022


Instructor:                   Professor Marc Bodson

Office:                         MEB 3230, Tel.: 581-8590


Class:                           MW 1:25PM-2:45PM (IVC)

Course web page: – in addition to Canvas


1.   Introduction

Electric actuators are at the core of many industrial applications, including manufacturing, process control, and transportation. New developments in power electronics and computing technology have made it possible to control a variety of motors, including AC motors, while achieving fast and precise tracking of commands. Advanced features of computer-controlled systems, such as adaptation and efficiency optimization are also becoming increasingly common.

2.   Course objectives

The objectives of the course are to:

·         provide an understanding of the operation of the motors, of their state-space models, and of the use of these models for computations, simulations and control system design.

·         give a working knowledge of methods used for the control of DC and AC motors, including open-loop and closed-loop methods and the selection of the controller parameters.

3.   Course contents

Introduction to electric motors: Basics of electromagnetic energy conversion and derivation of electric motor models. Linear and switching amplifiers, pulse-width modulation. Power electronic devices, topologies of electrical drives, and quadrants of operation. Optical encoders, resolvers, and other position sensors.

Control of brush DC motors: Construction and operation of brush DC motors. Model of a permanent-magnet brush DC motor. Steady-state characteristics and torque limits. Dynamic response under voltage and current command. PID control laws for speed and position regulation. Switching and time-optimal control algorithms. Separately excited and series DC motors. Field weakening.

Control of synchronous motors: Construction and operation of synchronous motors. Model of a two-phase permanent-magnet synchronous motor. Static and dynamic characteristics. Open-loop control, stepping and microstepping. Closed-loop quadrature control. DQ transformation and DQ model. Closed-loop control in the DQ frame of reference. Torque optimization and field weakening. Hybrid stepper motors and reluctance motors.

Brushless DC motors and three-phase synchronous motors: Construction of brushless DC motors. Modeling and characteristics of three-phase permanent magnet synchronous motors. Sinusoidal commutation and quadrature control. Six-step commutation. Sensorless control. Three-phase to two-phase transformation. Equivalent two-phase model. Control of three-phase synchronous motors using the DQ transformation.

Control of induction motors: Construction and operation of induction motors. Model of a two-phase induction motor. Steady-state characteristics, equivalent circuit, and torque curves under voltage and current commands. Open-loop control with constant V/f. Closed-loop slip control. Models in rotating frames of reference. DQ transformation for induction motors and field-oriented control. Modelling of three-phase motors and equivalent two-phase model. Control of three-phase induction motors.

4.   Prerequisites

A basic course on control system design (ECE 3510, ME EN 5200/6200, CH EN 4203, or equivalent) is required.

5.  Textbook

A textbook written by the instructor will be offered for download as a pdf file on Canvas, with the condition that students keep the file for their personal use and do not make it available to anyone else.

6.  Software

·         Zoom will be used for lectures and on-line meetings. A pro user license is available for free at However, a license is not required to join meetings.

·         MATLAB/SIMULINK is needed for homeworks and labs. A free license is available at Alternatively, students may access the computers in the Analog Lab of the ECE Teaching Labs (MEB 2365). Users need to have a Windows account of the CADE Lab, which is a computer lab operated by the College of Engineering. Accounts can be created and managed on the web page:

7.  Office hours

The instructor will be available for questions during lectures as well as through email, Canvas messages and Canvas discussions. Students are also encouraged to ask for on-line meetings as needed.

8.  Lectures

Classes will be held in interactive video conferencing (IVC) mode using Zoom. Lectures will be recorded and made available on Canvas soon after the class. Depending on attendance and other factors, it is also possible that some lectures will be recorded off-line. Students attending the lectures are encouraged to turn their webcam on. Videos of the cameras will not be included in the recordings. Lectures will follow the textbook closely but will also include additional examples.  Questions are always welcome, either during the lectures or at any other time.  

9.  Grading

Grades will be based on homeworks, labs, a project, and class participation. The labs will be software-based using MATLAB/SIMULINK. Help will be provided on-line during the scheduled lab times, or by contacting the TA and/or instructor. The requirements for the project will be described in a document uploaded on Canvas. The project will count for about 1/4 of the grade. Class participation includes specific assignments, participation in lectures, and discussions posted by students on Canvas.

10.  Regular and on-line sections

Students enrolled in the regular sections (001 and 002) are expected to attend the lectures and to perform the labs during the scheduled times (at least most of the time). The on-line section (090) does not require attendance of the lectures or the lab sections. The work assigned to the on-line students is the same as for the regular section and must be submitted at the same due dates (as specified on Canvas). All students are encouraged to arrange on-line meetings, either individually or in groups. On-line meetings other than lectures will not be recorded.

11.  College guidelines

Please check:

12.  University policies

1.       The Americans with Disabilities Act. The University of Utah seeks to provide equal access to its programs, services, and activities for people with disabilities. If you will need accommodations in this class, reasonable prior notice needs to be given to the Center for Disability Services, 162 Olpin Union Building, (801) 581-5020. CDS will work with you and the instructor to make arrangements for accommodations. All written information in this course can be made available in an alternative format with prior notification to the Center for Disability Services.

2.       University Safety Statement. The University of Utah values the safety of all campus community members. To report suspicious activity or to request a courtesy escort, call campus police at 801-585-COPS (801-585-2677). You will receive important emergency alerts and safety messages regarding campus safety via text message. For more information regarding safety and to view available training resources, including helpful videos, visit

3.       Addressing Sexual Misconduct. Title IX makes it clear that violence and harassment based on sex and gender (which includes sexual orientation and gender identity/expression) is a civil rights offense subject to the same kinds of accountability and the same kinds of support applied to offenses against other protected categories such as race, national origin, color, religion, age, status as a person with a disability, veteran’s status or genetic information.  If you or someone you know has been harassed or assaulted, you are encouraged to report it to the Title IX Coordinator in the Office of Equal Opportunity and Affirmative Action, 135 Park Building, 801-581-8365, or the Office of the Dean of Students, 270 Union Building, 801-581-7066.  For support and confidential consultation, contact the Center for Student Wellness, 426 SSB, 801-581-7776.  To report to the police, contact the Department of Public Safety, 801-585-2677(COPS).

4.       Other important information:

a.       Student code:

b.      Accommodation policy (see Section Q):

13. University Spring 2022 Instructional Guidelines