**Figure 7.**

*Simulink model of WNN-PID controller.*


#### **Table 1.**

*PSO parameter values.*


#### **Table 2.**

*PID parameters tuned using PSO for WNN-PID controller.*


**Table 3.**

*WNN parameters tuned using PSO.*

values of WNN parameters. **Figure 8** shows the speed response of the BLDC motor due to change in reference speed. The motor is started at a speed of 500 rpm and then is changed in step to a speed of 500 rpm for every 0.2 s. The actual speed of the motor is tracking the desired speed with a good response. The system starts at no load and suddenly a torque 2 N m (full load) is added at t = 0.4 s. **Figure 9** shows the speed response of the BLDC motor at 2000 rpm during no load and load condition. The developed torque during no load and load condition is shown in **Figure 10**. The position signal, the torque-speed characteristics, the phase current *ia*, Phase Backemf *ea* voltage, and line voltage *vab* are given in **Figures 11–15**, respectively.

**Figure 8.** *Step change in speed response with feedforward WNN-PID controller.*

**Figure 9.** *Speed response of the BLDC motor with WNN-PID controller.*

**Figure 10.** *Developed torque of BLDC motor with feedforward WNN-PID controller.*
