**5. Conclusion**

In this chapter, a performance improvement of the DTC of an IM drive utilizing the SVM technique and a nonlinear control technique named IOFL has been presented. In order to solve the classical DTC problems, like the torque ripples, the current distortion and the variation in the switching frequency, the SVM has been

developed in this chapter. The proposed scheme is known as SVM-DTC. To increase the robustness of the suggested scheme under parameter variations, an IOFL approach has been combined with the SVM-DTC to generate the reference voltage vector. The real time implementation on the Xilinx Zynq FPGA has been put forward and investigated in this chapter so as to reduce the period of the system and eliminate the time delay in the control loop. The design of the proposed scheme has been carried out using the XSG toolbox. The flux and torque ripples have been considerably reduced thanks to the SVM technique. The nonlinear approach has given more performance, such as the robustness against the parameter variations, good and fast dynamic response and good tracking, and has reduced the complexity of the control scheme. Furthermore, the designed architecture of the control algorithm has been tested with two different sampling periods in order to demonstrate that if the sampling period rises, the ripples increase. Moreover, this controller has been featured by its simple design and implementation. The hardware FPGA implementation of the proposed SVM-DTC-IOFL can be considered as a good solution to control electrical motor drives.

For future work we are interested in the experimental validation of the proposed DTC-SVM-IOFL utilizing a real test bench.
