**5.2 Simulation and results of cascade-PI, PID and lead-lag-controller**

The PI controller at the speed rate control has substituted via PID controller, which the metering activity gives to improve the motor speed and torque activity. As shown in **Table 4**, the cascaded PI and PID control parameters have utilized via trial-error strategy. Besides, **Figure 19** shows the Matlab/Simulink program has employed to simulate the PI and PID-cascaded controller. The **Figures 20**–**25** reveals the SynRM speed rate and the torque due to several working conditions.
