**5.1 Testing scheme**

In **Figure 7**, the scheme of PiL testing system is given. In the Simulink model energetic part (SM, inverter and DC source) has been running, while the complete control system has been running on the processor.

torque in linear control has some oscillations at the beginning and at reaching of the

Model based development is an approach that can handle complexities of various range of products. It is primarily used for early error detection. Using that approach, control system can be tested in phases. The first phase is called model in the loop (MiL) testing, the second one is processor in the loop (PiL) and finally there is hardware in the loop (HiL). In this work except from MiL, also PiL testing

nominal speed.

**Figure 6.** *SM2 comparison.*

**162**

**Figure 5.** *SM1 comparison.*

*Control Theory in Engineering*

**5. Processor in the loop testing**

has been done. The testing equipment consists of:

**Figure 8.** *Starting of SM1-PiL.*

## *Control Theory in Engineering*

To check the novel control algorithm PiL, testing of both (SM1 and SM2) machines have been done. Testing included starting process, reversing of the speed and load step changes.
