Control Approach Research Articles

Accelerated Gradient Approach For Deep Neural Network-Based Adaptive Control of Unknown Nonlinear Systems.

Recent connections in the adaptive control literature to continuous-time analogs of Nesterov's accelerated gradient method have led to the development of new real-time adaptation laws based on accelerated gradient methods. However, previous results assume that the system's uncertainties are linear-in-the-parameters (LIP). To compensate for non-LIP uncertainties, our preliminary results developed a neural network (NN)-based accelerated gradient adaptive controller to achieve trajectory tracking for nonlinear systems; however, the development and analysis only considered single-hidden-layer NNs. In this article, a generalized deep NN (DNN) architecture with an arbitrary number of hidden layers is considered, and a new DNN-based accelerated gradient adaptation scheme is developed to generate estimates of all the DNN weights in real-time. A nonsmooth Lyapunov-based analysis is used to guarantee the developed accelerated gradient-based DNN adaptation design achieves global asymptotic tracking error convergence for general nonlinear control affine systems subject to unknown (non-LIP) drift dynamics and exogenous disturbances. A comprehensive set of simulation studies are conducted on a two-state nonlinear system, a robotic manipulator, and a complex 20-D nonlinear system to demonstrate the improved performance of the developed method. Our simulation studies demonstrate enhanced tracking and function approximation performance from both DNN architectures and accelerated gradient adaptation.

Self-Organizing Type-2 Fuzzy Double Loop Recurrent Neural Network for Uncertain Nonlinear System Control.

Nonlinear systems, such as robotic systems, play an increasingly important role in our modern daily life and have become more dominant in many industries; however, robotic control still faces various challenges due to diverse and unstructured work environments. This article proposes a double-loop recurrent neural network (DLRNN) with the support of a Type-2 fuzzy system and a self-organizing mechanism for improved performance in nonlinear dynamic robot control. The proposed network has a double-loop recurrent structure, which enables better dynamic mapping. In addition, the network combines a Type-2 fuzzy system with a double-loop recurrent structure to improve the ability to deal with uncertain environments. To achieve an efficient system response, a self-organizing mechanism is proposed to adaptively adjust the number of layers in a DLRNN. This work integrates the proposed network into a conventional sliding mode control (SMC) system to theoretically and empirically prove its stability. The proposed system is applied to a three-joint robot manipulator, leading to a comparative study that considers several existing control approaches. The experimental results confirm the superiority of the proposed system and its effectiveness and robustness in response to various external system disturbances.

Exploring the spectroscopic and I‑V‑T characteristics advancements of cadmium zinc tungsten phosphate diode

This research accomplished the growth of cadmium zinc tungsten phosphate (CZWP) thin films on both glass and p-Si substrates, employing the sol–gel spin coating method. The sol–gel technique offers a versatile and controlled approach for fabricating nanomaterials with tailored properties. The structural and morphological analyses, conducted through XRD and FE-SEM, provided comprehensive insights into the nature of the films. The optical properties, absorbance behavior, energy gap, refractive indices, dielectric, conductivity, and electronegativity, underwent meticulous examination through UV–Vis spectroscopy. The X-ray diffraction analysis of the zinc cadmium tungsten phosphate diode reveals diffraction lines indicative of a nanostructure featuring a monoclinic-phase Zn2P2O7 and Cd3P6O28. Furthermore, SEM analysis confirms a nanoporous morphology with a nanograpes-like structure in the successful crystalline structure of the cadmium zinc tungsten phosphate nanostructure. The optical absorption studies, covering a wavelength range from 190 to 1500 nm, unveiled both direct and indirect energy band gaps, measuring 4.14 and 3.77 eV, respectively. A rigorous analysis of the I-V-T characteristics for the CZNP/p-Si junction in dark mode led to the identification of key parameters, including the transport ideality factor, barrier height, and series resistance.

A Review of Real-Time Implementable Cooperative Aerial Manipulation Systems

This review paper focuses on quadrotor- and multirotor-based cooperative aerial manipulation. Emphasis is first given to comparing and evaluating prototype systems that have been implemented and tested in real-time in diverse application environments. The underlying modeling and control approaches are also discussed and compared. The outcome of this review allows for understanding the motivation and rationale to develop such systems, their applicability and implementability in diverse applications and also challenges that need to be addressed and overcome. Moreover, this paper provides a guide to develop the next generation of prototype systems based on preferred characteristics, functionality, operability, and application domain.

Transcranial alternating current stimulation over frontal eye fields mimics attentional modulation of visual processing.

Attentional control over sensory processing has been linked to neural alpha oscillations and related inhibition of cerebral cortex. Despite the wide consensus on the functional relevance of alpha oscillations for attention, precise neural mechanisms of how alpha oscillations shape perception and how this top-down modulation is implemented in cortical networks remain unclear. Here, we tested the hypothesis that alpha oscillations in frontal eye fields (FEF) are causally involved in the top-down regulation of visual processing in humans (male and female). We applied sham-controlled, intermittent transcranial alternating current stimulation (tACS) over bilateral FEF at either 10 Hz (alpha) or 40 Hz (gamma) to manipulate attentional preparation in a visual discrimination task. Under each stimulation condition, we measured psychometric functions for contrast perception and introduced a novel linear mixed modeling approach for statistical control of neurosensory side effects of the electric stimulation. TACS at alpha frequency reduced the slope of the psychometric function, resulting in improved sub-threshold and impaired super-threshold contrast perception. Side effects on the psychometric functions were complex and showed large interindividual variability. Controlling for the impact of side effects on the psychometric parameters by using covariates in the linear mixed model analysis reduced this variability and strengthened the perceptual effect. We propose that alpha tACS over FEF mimicked a state of endogenous attention by strengthening a fronto-occipitoparietal network in the alpha band. We speculate that this network modulation enhanced phasic gating in occipitoparietal cortex leading to increased variability of single-trial psychometric thresholds, measurable as a reduction of psychometric slope.Significance statement Attention is fundamental to the voluntary control of perception and behavior. Yet, precise underlying neural mechanisms remain unclear. Here, we provide evidence for a vital role of frontal alpha oscillations in the regulation of gating of visual information by using intermittent transcranial alternating current stimulation (tACS). We show that modulation of frontal alpha oscillations affected the slope of psychometric functions of visual contrast perception, leading to contrast-dependent improvement and impairment of perception. Our data adds to work on alpha oscillations in spatial attention and studies on the psychometrics of attention. Furthermore, we introduce a novel approach for the statistical control of tACS side effects and thereby contribute to the ongoing debate on outcome variability in studies using transcranial neurostimulation methods.

Investigating the Dynamics of Bayoud Disease in Date Palm Trees and Optimal Control Analysis

The fungus Fusarium oxysporum (f.sp. albedinis) causes Bayoud disease. It is one of the epiphytotic diseases that affects a wide range of palm species and has no known cure at present. However, preventive measures can be taken to reduce the effects of the disease. Bayoud disease has caused enormous economic losses due to decreased crop yield and quality. Therefore, it is essential to develop a mathematical model for the dynamics of the disease to propose some affordable methods for disease management. In this study, we propose a novel mathematical model that describes the transmission dynamics of the disease in date palm trees. The model incorporates various factors such as the contact rate of the fungi with date palm trees, the utilization of fungicides, and the introduction of a quarantine compartment to prevent disease dissemination. We first prove a few key properties of the proposed model to ensure that the model is well-posed and suitable for numerical investigations. We establish that the model has a unique positive solution that is bounded and stable over time. We use sensitivity analysis to identify the parameters that have the greatest effect on the reproduction number R0 and illustrate this effect graphically. We then formulate an optimal control problem to identify the most suitable and cost-effective disease control approaches. As a first approach, we solely focus on the application of fungicide to susceptible trees and determine the best spray rates for a greater decrease in exposed and infected trees. Secondly, we emphasize quarantining exposed and infected trees at optimal quarantine rates. Finally, we explore the combined effect of fungicide spraying and isolating infected trees on disease control. The findings of the last approach turn out to be the most rewarding and cost-effective for minimizing infections in date palm trees.

In vitro and in vivo antifungal efficacy of individual and consortium Bacillus strains in controlling potato black scurf and possible development of spore-based fungicide

Potato is a major crop whose yield and quality are impacted by the pathogenic fungus Rhizoctonia solani. Here, a control approach based on the use of endophytic bacillus spores and bacterial consortia was assessed as an innovative solution to improve tuber productivity and health. Endophytic potato bacteria extracted from several organs (leaves, stems and roots) evaluated for their antagonistic activity against R. solani by the double culture technique and their ability to rot potato slices. Additionally, the ability of Bacillus strains to generate hydrolytic enzymes and produce lipopeptides (using ESI-MS/MS mass spectrometry) was assessed. Then, the effectiveness of selected bacterial strains, either individually or in consortium (after carrying out compatibility tests) in the suppression of R. solani was evaluated in the greenhouse. Six endophytes not affecting potato tubers and having an antagonistic effect against R. solani were identified: B. halotolerans SpS5, B. velezensis KnL15, B. aryabhattai FaR1, B. amyloliquefaciens LiR9, B. haynesii ReR10 which produce several types and combinations of lipopeptides belonging to different families (iturins, fengycins and surfactins) as well as hydrolytic enzymes (chitinase, protease and cellulase). The vegetative and sporulating strain SpS5, as well as the 5 other Bacillus and their Sps5-based consortia, were found to be very effective in increasing the yield of healthy, high-quality tubers and reducing disease severity. Based on the results mentioned above, a microbial fungicide from the spores of (i) B. halotolerans SpS5 for which we sequenced the whole genome or (ii) bacterial consortia could be developed to combat black scurf potato and other fungal infections.

Research on AEB-P Control Strategy Considering Braking Process Comfort

A control approach for the pedestrian-oriented automobile automatic emergency braking system (AEB-P) that takes driving comfort into account is suggested in an effort to further optimize the AEB-P system's control algorithm. Firstly, for the AEB-P assessment standard of C-NCAP, a braking safety distance model that takes the driver's comfort into account during braking is created. The next step was to construct a hierarchical controller using PID and MPC principles. Lastly, CarSim and Matlab/Simulink are used to build and validate the test scenarios and control methods. The simulation results demonstrate that both ride comfort and driving safety can be guaranteed by the suggested control technique.

Analysis, Simulation, and Experiments of Dynamics and Control of a Hydrostatic Wind Turbine Under Partial Load

Abstract Kω2 control, also called torque control, is a popular method for maximizing wind turbine power. For hydrostatic wind turbines, torque control becomes pressure control with pc=K'ω2 because pressure is proportional to torque. Inverse Kω2 control is an alternative approach using rotor speed control with pc=(p/K')1/2. This work analyzes the dynamics of hydrostatic wind turbines using forward and inverse Kω2 control with P-, PD-, PI-, and PID-control for feedback. Dimensionless, linearized models are used. Analysis shows that the mechanical rotor dynamics are much slower than the hydrostatic transmission dynamics and that frictional and leakage losses are negligible. Linear perturbation of the nonlinear model reveals that the closed-loop control is not in Evan's form, so that closed-loop poles and zeros both vary with the loop gain. Pole and zero root locus analysis shows how systems responses change with controller gains. Both control approaches require derivative controller action to sufficiently dampen their responses; both are also fundamentally limited in speed of response by a slow stable pole regardless of controller loop gains. Nonlinear system simulation shows that both control approaches track the maximum power point with nearly identical transient behavior and have nearly identical power losses when using suboptimal values of the control law gain, K. Pressure control has a gain margin of infinity and a phase margin of 99.3 degrees, while speed control has a gain margin of 22.4 dB and a phase margin of 73.8 degrees showing that pressure control is more robust than speed control. Experiments using the power regenerative hydrostatic test stand at the University of Minnesota show that the control approaches have different transient responses but capture comparable power under steady and turbulent conditions.

Rectification and converter control of the FPSLGs for energy storage applications

AbstractThis article presents two power converters with controllers attached to the Free‐Piston Stirling Linear Generator (FPSLG) and energy storage system (ESS). The rectifier uses hysteresis‐SVPWM current regulation and CB‐SPWM, while the buck‐boost converter utilizes the dual‐loop PI control method. The storage battery receives energy from a linear‐generator with a rectifier and converter. The FPSE and linear motors in the FPSLG convert thermal to electrical energy. A two‐level electrical energy conversion technique using a three‐phase AC signal to DC and DC‐DC converter has been devised to reduce output electrical energy oscillation as well as stabilize the generating system's DC power. Initially, the FPSE's nonlinear model and the three‐phase permanent magnet linear‐motor's linear mathematical model were created and followed by the ESS and control mechanism simulation. The simulation shows that the ESS system and control approach can give stable power to the storage battery using linear‐generator power. The PR controller replaces the PI controller in the position loop to improve frequency and displacement tracing. The control system design was simulated in MATLAB and the topology's feasibility and correctness were confirmed. Comparative analysis shows that, rectifier uses the H‐SVPWM's unity power factor of AC and stability controllability of the DC‐side voltage is better than the CB‐SPWM approach.

Hunting stability control of high-speed bogie based on active yaw damper

Hunting stability is an inherent property of railway vehicles that determines the operational speed. This paper establishes a half-vehicle model with nonlinear wheel/rail equivalent conicity and interactive forces. Additionally, the dynamic performances of vehicle under various levels of wheel wear with passive suspension are compared and analyzed. Importantly, the investigation delves into the hunting stability of the vehicle system, employing both linear and nonlinear control approaches. The results demonstrate a notable reduction in critical speed during the end-worn period with a passive suspension. However, this reduction can be substantially countered through the application of active control, resulting in a significant speed increase. The implementation of stiffness control raises the frequency of limit cycles, whereas damping control serves to diminish it. Notably, an appropriate linear cubic stiffness control effectively mitigates the amplitudes of limit cycles during instances of instability. Moreover, the control strategy derived from the simplified model is extended to enhance the stability of the entire vehicle system. The research findings hold the potential to offer a promising strategy for the active control of high-speed vehicles, particularly during periods of wheel wear.

Backstepping Control Design in Conjunction with an EKF-based Sensorless Field-Oriented Control of an IPMSM

The collector and brushless electronic commutation machines have gained widespread utilization in industrial applications. Among these machines, internal permanent magnet synchronous motors (IPMSMs) have become increasingly popular due to their numerous advantages, including high torque/current and torque/inertia ratios, robust construction, high efficiency, and reliability. However, the incorporation of position sensors in IPMSMs has introduced challenges concerning their application, performance, mass production, and cost. Consequently, the implementation of sensorless control techniques has become essential in drive systems and various applications. This paper proposes a backstepping control approach for achieving speed sensorless control of IPMSMs, employing an extended Kalman filter (EKF). The first step involves developing a comprehensive nonlinear dynamical model of the IPMSM in the direct and quadrature (d-q) rotor frame and obtaining its corresponding state-space representation. Subsequently, backstepping controllers for rotor speed and current tracking are designed to ensure precise tracking and anti-disturbance performance. These controllers are integrated into the field-oriented control (FOC) scheme. The Lyapunov stability theorem is employed to guarantee the asymptotic stability condition of the backstepping controller. To address the challenge of estimating immeasurable mechanical parameters of the IPMSM and accurately tracking the system states, an EKF is designed. This filter enables the estimation of mechanical parameters and achieves high steady-state precision within a finite time. The effectiveness of the proposed methodology is demonstrated through simulations conducted under various dynamic operating conditions, including sudden torque load changes, command speed changes, and parameter variations.

The Socio-Economic Impact of an Abrupt Loss of Oil: A Synthetic Control Approach in the Case of Sudan

With the secession of South Sudan in 2011, the Republic of Sudan experienced a sudden loss of more than 70% of its oil reserves. Few countries have experienced such a dramatic macroeconomic adjustment within a short period of time. While earlier studies have explored the socio-economic impacts of oil discoveries, little is known about what happens in the case of an abrupt reversal of an oil windfall. We make use of the synthetic control method to isolate the effects of such an abrupt oil loss. We find little evidence of oil-induced socio-economic effects with the exception of higher unemployment.

Adaptive neuro fuzzy technology to enhance PID performances within VCA for grid-connected wind system under nonlinear behaviors: FPGA hardware implementation

Wind Energy Conversion Systems (WECSs) exhibit nonlinear behavior due to internal and external disturbances, which can significantly impact the control performance. Firstly, this paper proposes a Vector Control Approach (VCA) based on Adaptive Neuro Fuzzy (ANF) of Proportional Integral Derivative (PID) controllers for a variable speed Permanent Magnet Synchronous Generator (PMSG)-based WECS connected to the grid to address these issues. The proposed ANF-PID controller combines the robustness of the fuzzy logic with the neural network's performance to ensure high accuracy, excellent tracking, and robustness against the WECS's nonlinear behavior. The neural network automates the placement of fuzzy logic membership functions. Secondly, this paper suggests a real-time hardware implementation of the VCA based on ANF-PID using a Field Programmable Gate Array (FPGA) to reduce the processing time and the WECS's sampling period. The effectiveness of the VCA based on ANF-PID controllers is validated by conducting a numerical simulation within the Matlab-Simulink using the Xilinx System Generator tool, alongside an experimental in-the-loop hardware implementation using FPGA board. Different scenarios are conducted to validate the robustness and stability of the proposed VCA based on ANF-PID control schemes, which is compared to Conventional Fuzzy PID (C-FPID) and PID controllers. The results exhibit that the VCA based on ANF-PID controllers outperforms VCA-C-FPID and VCA-PID controllers in terms of precision, tracking accuracy, and robustness against the WECS's nonlinear behavior and the PMSG parameter variations. The performances of the proposed controllers are tested under some criteria. In fact, the proposed ANF-PID controller provides a Mean Absolute Error (MAE), a Mean Squared Error (MSE) and a Root Mean Squared Error (RMSE) of 8.1911 × 10−04, 8.4181 × 10−05 and 0.0092, respectively. Compared to the C-FPID controller, the proposed controller offers an improvement gain of 98.96 %, 99.61 %, and 93.79 % of MAE, MSE, and RMSE, respectively. When compared to the PID controller, its improvement is even more significant, with a reduction of 99.9919 %, 99.9999 %, and 99.9288 % of MAE, MSE, and RMSE, respectively. In addition, the ANF-PID-based VCA utilizes hardware resources on the FPGA efficiently, requiring only 65.60 % slices LUT, 0.28 % LUTRAM, and 22.99 % FF. This makes it a more cost-effective option compared to the VCA-C-FPID controller for diverse control systems.

A Separation Modeling Method for Morphing QUAV: Analytical Solutions for Constraint Forces Under Deformation

Abstract A morphing quadrotor unmanned aerial vehicle (QUAV) possesses the remarkable ability to alter its shape, enabling it to navigate through gaps smaller than its wingspan. However, these deformations result in changes to the system's center of gravity and moment of inertia, necessitating real-time computation of each state's variations. To address this challenge, we propose a dynamic modeling approach based on the Udwadia−Kalaba (U-K) method. The morphing QUAV is divided into three separate subsystems, with the dynamic modeling for each subsystem conducted independently. Subsequently, the QUAV's deformation states and inherent structure are introduced in the form of constraints, and the constrained forces are derived using the U-K equation. By combining these analytical solutions, the model of the QUAV under continuous deformation is obtained. This approach effectively simplifies the modeling computations caused by changes in the system's center of gravity and moment of inertia during deformation. A control approach is proposed to achieve attitude stabilization and altitude control for the morphing QUAV. Ultimately, the stable motion of the morphing QUAV is validated through numerical simulations.

Early-stage hypopharyngeal squamous cell carcinoma treated with radical radiotherapy at a uniform dose of 70Gy in 35 fractions: a single-center study.

Hypopharyngeal squamous cell carcinoma (HSCC) is often undetected until advanced stages, which contributes to poor survival rates. Recent advances in diagnostic techniques have enhanced the feasibility of early detection, and this study evaluated the efficacy and safety of radical radiotherapy that specifically targets early stage HSCC. This retrospective cohort study consecutively analyzed patients with clinical stage I or II HSCC between December 2008 and February 2023. These patients underwent radical radiotherapy with a uniform dose of 70 Gy delivered in 35 fractions to the primary site, followed by elective nodal irradiation. We assessed clinical outcomes, including overall survival (OS), disease-free survival (DFS), and 5-year locoregional control (LRC). Multivariate analyses were performed to identify the independent prognostic factors for OS. The 5-year OS rate of the entire cohort was 80.7% (95% confidence interval [CI] = 66.5-89.4%), with no significant difference between patients with clinical stage I and II HSCC. Stratified by subsite, the 5-year OS for pyriform sinus, posterior pharyngeal wall, and postcricoid region were 81.6, 68.2, and 100%, respectively. The ECOG-Performance status (PS) was identified as an independent risk factor for OS (hazard ratio [HR] = 8.457; 95% CI 1.325-53.970; p = 0.024). DFS at 5 years was 66.4%, with local recurrence being the most frequent, and LRC rate at 5 years was 79.3%. Acute and late-phase toxicities were predominantly mild to moderate, with no grade 3 or higher toxicities reported. This study supports radical radiotherapy as an effective approach for optimal tumor control in patients with early stage HSCC. Despite the limitations of this study, including its retrospective design and single-center confinement, our results revealed the effectiveness and feasibility of radical radiotherapy in the management of early stage HSCC.

A multi-stand work roll bending and shifting approach for profile contour and flatness control of electrical steel in multi-width schedule-free rolling using NSGA-II algorithm

To overcome the severe uneven work roll wear and uneven deformation of the wide-width electrical steel in the SFR (Schedule-Free Rolling) is an effective way to organize production flexibly and maximize production efficiency in hot rolling. In order to meet the increasingly stringent requirements of PCFC (Profile Contour and Flatness Control) of multi-width electrical steel in hot rolling, the collaborative control strategy of multi-stand work roll bending and shifting for profile and flatness of electrical steel in multi-width SFR was developed using NSGA-II approach. The work roll wear prediction model, thermal crown model, and strip crown model were established based on on-site measured data. Combining the work roll wear characteristics with principle, the mathematical model for work roll shifting considering multi-width was established. The main parameters of the multi-width work roll shifting strategy are obtained using the multi-objective NSGA-II algorithm. On this basis, a multi-stand collaborative control strategy, including rolling contour, short stroke roll shifting, and work roll bending, in the downstream stands during multi-width SFR was proposed. The industrial application of the developed control strategy shows that can prominently enhance the PCFC capability of electrical steel, which the uneven wear contour can be reduced.

Control of DFIG-based wind power generation system under unbalanced grid voltage conditions

Doubly Fed Induction Generator (DFIG)-based wind turbines have become increasingly popular in recent years due to their capacity to operate at varying speeds. Weaknesses in the DFIG system can arise from issues with the power grid due to the stator's direct connection and the excitation converter's power rating limitation. Under situations of unbalanced grid voltage, this study aims to explore the efficacy of the Direct Power Control (DPC) approach in managing wind turbine systems based on DFIG. Throughout the experimental investigation, we evaluated the system in standard and unbalanced grid voltage settings. MATLAB/SIMULINK simulations implement DPC, specifically tailored for a 9 MW DFIG-based wind farm. The results of these simulations show that the changed control method effectively reduces torque oscillations by making it possible to create active and reactive power references for the rotor-side converter. This eliminates the requirement for sequence component excitation, which was previously necessary. Furthermore, the research highlights the intrinsic link between control techniques and grid circumstances, showing this connectivity's crucial role in improving wind energy systems' stability and operational efficiency based on DFIG.

Control of elongated plasmas in superconductive tokamaks in the absence of in-vessel coils

Abstract The roadmap for the commissioning and first operations of superconductive tokamaks envisages the possibility of running discharges with fairly elongated plasmas before the complete installation of the in-vessel components, including vertical stabilization coils, or any other specific sets of coils to be used for the magnetic control of fast transients. In the absence of dedicated actuators, the magnetic control system shall perform the essential fast control actions by using the out-vessel superconductive coils, if needed. These are typically less efficient in reacting to fast transients, due to the shielding effect of the vessel and imply a coupling with other control tasks relying
on the same actuators, such as plasma current, position, and shape control. Hence, effective actuator-sharing strategies must be put in place. This paper presents an architecture and a possible control strategy that is able to cope with vertically unstable elongated plasmas subject to fast varying disturbances, in the absence of dedicated in-vessel coils. The architecture exploits a model-based actuator-sharing approach to effectively accomplish the main magnetic control objectives while minimizing the crosscouplings among the various tasks. The effectiveness of the approach is demonstrated by means of nonlinear simulations of realistic JT-60SA scenarios. In particular, an
isoflux plasma shape controller is integrated with plasma current control and vertical stabilization. The proposed control approach proves to control vertical displacement events and plasma deformations due to fast variations of poloidal beta with satisfactory performance.

Real-time and hardware in the loop validation of electric vehicle performance: Robust nonlinear predictive speed and currents control based on space vector modulation for PMSM

The transport industry's environmental impact has prompted various stakeholders to focus more on electric vehicles as a potential solution. Extensive research on electric vehicle motor control reveals their complexity, highlighting the crucial role of the traction motor control mechanism being one of their essential subsystems. This study presents a novel approach to control the drive system of an electric vehicle's permanent magnet synchronous motor, using a robust non-linear model predictive control in a cascaded structure combined with a space vector modulation technique. The formulation of the robust non-linear model predictive control law involves optimizing a new cost function with the inclusion of an integral action in the controller to ensure zero steady-state error. An important aspect of this control approach is its ability to enhance robustness without needing information about external perturbations and parameter uncertainties. Moreover, the space vector modulation technique is designed to address the issue of current harmonic distortion by carefully selecting appropriate switching vectors. The appropriate selection for space voltage vectors for every sampling period maintains a consistent switching frequency. As a result, the SVM can enhance torque-rippled regulation and accomplish effective flux and torque control. The performance of the proposed control system is evaluated through a series of numerical simulations using MATLAB/Simulink. The simulation results are analyzed and compared to assess the effectiveness of the proposed control system in terms of tracking accuracy, disturbance rejection, robustness against parameter uncertainties, reduction of torque, and current ripples. To further validate the numerical simulation results, a hardware-in-the-loop (HIL) setup is established using the OPAL-RT platform. Furthermore, experimental validation on a PMSM utilizing the dSPACE DS1202 board is carried out, demonstrating the efficacy of the proposed control system. These findings validate the suggested control technique's robustness and efficiency.