National Power Electronics Conference (NPEC 2010)

SENSORLESS VECTOR CONTROL OF INDUCTION MOTOR USING DIRECT ADAPTIVE RNN SPEED ESTIMATOR
J.P. Mishra NIT Silchar ABSTRACT
This paper describes a Model Reference Adaptive System (MRAS) based scheme using a multilayer Recurrent Neural Network (RNN) for online speed estimation of sensorless vector controlled induction motor drive. The speed value is obtained at the multilayer Artificial Neural Network (ANN) output and the feedback is connected between the output and the input node so as to extract the dynamic recurrent neural network features. This makes the estimator robust to parameter variations and system noises. The weights of the neurons are continuously updated online using backpropagation training algorithm and the estimated speed is then fed back in the speed control loop to realize the speed sensorless indirect vector control operation using MATLAB/ SIMULINK. The simulated performance of the proposed speed estimator is investigated for both speed and load torque variations which showed good dynamic performance over the entire speed range.

S.P. Gupta IIT Roorkee

N.P. Padhy IIT Roorkee

b , bm r , rm
Sb

Base electrical and mechanical frequency (rad/sec) Rotor electrical and mechanical speed rad/sec) Rating of induction motor (VA) Number of poles Rotor inertia (kg-m2) Electro-mechanical torque (N-m) Load torque and damping torque (N-m)

P
J
Tem

Tl , Tdamp

INTRODUCTION The induction motor is one of the most widely used electric machines for high performance drive applications. The process of improvement in dynamic performance of an induction motor using the concept of field oriented control has already been investigated by many researchers. In the last decade significant efforts were made in the field of research on AC drive control to eliminate the need for the speed sensor [1], as this degrades the systems reliability, especially in defective environments, and reduce the advantages of an induction motor drive system. However, an induction motor is a highly coupled, nonlinear dynamic plant, and its parameters vary with time and operating conditions. The traditional approaches to speed sensorless vector control use the method of flux and slip estimation using instantaneous values of stator currents and voltages [2-3], but this has a large error in speed estimation, particularly in the low speed range. Other approaches such as model reference adaptive system (MRAS) methods, extended Kalman filter algorithms, etc., have been developed to achieve more accurate speed estimation performance [4-6]. However, the extent of decoupling achieved will depend on the accuracy of motor parameters,

NOMENCLATURE
s s s s ids , iqs , idr , iqr

Stationary frame d- and q-axis stator and rotor currents (A) Synchronous frame d- and q-axis
s qr

ids , iqs , idr , iqr

, , ,
s ds s qs s dr

stator and rotor currents (A) Stationary frame d- and q-axis stator and rotor fluxes (V in per unit) Stationary frame d- and q-axis stator and rotor fluxes (wb) Rotor flux vector (wb) Stationary frame d- and q-axis stator voltages (V) Stator and rotor resistance ( ) Rotor self inductance and stator magnetizing inductance (H) Stator and rotor leakage reactance ( in per unit) Stator magnetizing reactance ( in per unit)

s s s s ds , qs , dr , qr

r
s s vds , vqs

Rs , Rr
Lr , Lm

xls , xlr xm

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particularly, due to changes in rotor resistance with temperature and frequency. This is generally overcome by using a separate rotor resistance identification routine. Recently, the use of neural networks (NNs) to identify and control nonlinear dynamic systems has been proposed [7-8], because they can approximate a wide range of nonlinear functions to any desired degree of accuracy. Moreover, they have the advantages of extremely fast parallel computation, immunity from input harmonic ripples, and fault tolerance characteristics. Earlier, some investigations into the application of ANNs to power- electronics and ac drives, including speed estimation, multilayer feed-forward neural networks were used with offline training. This technique gives a fairly good estimate of the speed and is robust to parameter variation. However, the neural network speed estimator should be trained sufficiently with various patterns to get good performance before it is used for online applications. An ANN based model reference adaptive system in which gradient descent back-propagation algorithm for online training of a two layer ANN has been proposed by L. Ben-Brahim et al [9-10]. In this case the speed value was not obtained at the output, but estimated from one of the weights which were adjusted during the online training. In this paper, a modified approach of MRAS based speed estimator scheme using a multilayer RNN is proposed to estimate the speed of an induction motor. In this case, the speed value is obtained at the ANN output and the feedback is connected between the output and the input node so as to extract the dynamic recurrent neural network features. The multilayer and recurrent structure makes itself robust to parameter variations and system noises. The weights of the neurons are continuously updated online using backpropagation training algorithm during the speed-sensorless vector controlled drive operation using MATLAB/ SIMULINK. INDUCTION MOTOR DRIVE SYSTEM Induction machine electro-mechanical model The per unit induction machine equations in dq stationary reference frame can be written as follows [11]: The stator and rotor voltage equations:
s v ds =

b
p

s s + Rs ids ds s s + Rs iqs qs

(1) (2) (3) (4)

s v qs =

b
p

r s s qr + Rr idr b b p s r s s 0= dr + Rr iqr qr b b
0=

s + dr

The flux linkage equations:

s s = xls ids + s ds md s s = x ls i qs + s qs mq s s = xlr idr + s dr md

(5) (6) (7)

= x i +
s qr s lr qr

s md

= xm i + i
s ds
s qs

s = xm mq

( (i

s mq
s dr

s + i qr

(8) (9) (10)

The torque equation

3 P s s Tem = . s i qs s i ds ds qs 2 2 b

(11)

The equation of motion of the rotor is obtained by equating the inertia torque to the accelerating torque as follows:

d rm = Tem TL Tdamp dt

(12)

Expanding in per unit values, we get

2H

d ( r b ) = Tem TL Tdamp dt

(13)

H is the inertia constant, defined as the ratio of the kinetic energy of rotating mass at base speed to the rated power.
H=
2 Jbm 2S b

(14)

Vector-controller modeling The field oriented control allows the rotor flux to be perfectly aligned with the d-axis of the synchronously rotating d-q frame. Indirect field-oriented control can be considered as a special means for controlling the stator

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currents and slip frequency of an induction machine. The torque is controlled by regulating iqs and slip-speed e r . The rotor flux is controlled by regulating ids . By properly
* * selecting the command stator currents iqs , ids * and slip speed sl , the rotor flux can be placed in the d-axis.
* For a desired level of rotor flux, r the desired

* value of ids is obtained from Eq. (15):

* r* = dr =

R r Lm * ids wb-turn R r + Lr p

(15)

* For a desired torque of Tem at the required

* level of rotor flux, the desired value of iqs is

are used. The motor phase currents from induction motor simulation are compared with the reference currents generated from vector controller block and these error signals are used to generate PWM switching waveform. Each phase current error is compared with the upper and lower hysteresis band. If current error of one of the phases is crossing upper hysteresis band, the lower device of the respective inverter leg is turned ON and the upper device of the leg is turned OFF. If the current error crosses lower hysteresis band, the lower device is turned OFF and the upper device is turned ON. With an isolated neutral which is usual for a machine, the load phase voltages are determined from following equations [4]:

obtained from Eq. (16):

* Tem =

3 P Lm * * dr i qs N.m 2 2 Lr

(16)

When properly oriented, dr = Lm i ds . Thus the orientation of the d-axis to the rotor field can be maintained by keeping the slip speed in accordance to Eq. (17) as below:
* sl = r =

2 1 1 v a 0 vb 0 v c 0 3 3 3 2 1 1 vbn = vb 0 v a 0 vc 0 3 3 3 2 1 1 vcn = v c 0 v a 0 vb 0 3 3 3

v an =

where, v ao , vbo and vc 0 are either 0.5 v dc or 0.5 v dc corresponding to a upper switch is ON or lower switch is ON respectively. PWM VSI block is coded in an S-function mfile and was masked to produce a custom block with user-definable parameter for dc-link voltage. STRUCTURE OF RNN SPEED ESTIMATOR The structure of the proposed speed estimation scheme is similar to that of the neural network based direct adaptive control scheme. The outputs of the reference model; the inputs and outputs of the adjustable model are used as the inputs of the ANN in this direct adaptive control scheme. Since the induction motor voltages and currents are measured in the stationary reference frame, it is convenient to express two independent flux observers defined as the voltage model and current model equations in the stationary frame [9][10]. The voltage model that do not involve r is treated as the reference model:
s L v s R + Ls p p dr = r ds s s s 0 qr Lm vqs
s 0 ids (18) s Rs + Ls p iqs

Lm rr iqs elect.-rad /s (17) Lr r

where, ids and iqs are transformed from actual value of 3-phase stator currents. The above conditions, if satisfied, ensure the decoupling of the rotor voltage equations. However, the extent of decoupling achieved will depend on the accuracy of motor parameters used. The field orientation, , is the sum of the rotor angle calculated by integrating the rotor speed measured by speed sensor and the slip angle sl evaluated from integrating the reference slip speed. Current controlled PWM VSI The PWM VSI block integrated to this simulation environment is based on the hysteresis current-regulated pulse-width modulation (CRPWM). The basic reason to use the current as a variable to be controlled is that both the rotor flux and the electromagnetic torque are directly associated with these variables when FOC techniques

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The current model that involves r is used as the adjustable model:
s 1 Tr p dr = s qr r
s s r dr Lm ids s s + 1 Tr qr Tr iqs

E=

1 [e( k )]T e( k ) 2
T

(21)

(19)

where,

e(k ) = [e1 (k ) e2 (k )] = rs* (k ) rs (k )

s* s* s s = dr (k ) dr (k ) qr (k ) qr (k )

The output of the ANN is the estimated speed ( r ), which is subsequently used as the input of the adaptive model. If the estimated speed deviates from the real speed ( r ), an error occurs between the flux from the adjustable current model ( rs ) and the flux from the reference voltage model ( rs* ). The error is back-propagated and the weights of the ANN are adjusted online to reduce the error and finally, the output of the ANN follows the real speed. Therefore, rs* (k ) , rs (k ) and the

Implementation of generalized delta rule The back-propagation training algorithm is basically a steepest descent method in which case the weight adjustments to give minimum value of the energy function have to be proportional to the negative of the gradient of the error with respect to the weight. The proportionality factor is the so called learning rate, which is a positive constant. The larger learning rates yield larger changes in the weights so as to give the fastest learning of the network. Hence, the algorithm contains the learning rate parameter which has significant influence on the behavior of the network. However, to obtain increased learning and to avoid instability, a momentum term is also used in the weight adaptation process which is a scaled value of the most recent weight adjustment. This also ensures the accelerated convergence of the algorithm to a global minimum error, which are extremely useful when the ANN is used in real-time for the speed or parameter estimations of the machine. The iterative weight adjustments for the output nodes are different to those of hidden nodes. Computation of error-signal term of output layer: The mathematical expression for the weight adjustment between the hidden (j) and output (k) layer has to be as follows:

delay term of r (k ) can be used as the inputs of the ANN of the speed estimator.

s* r

( k ) = [

s* dr

( k ),

s* qr

( k )] T

s s rs ( k ) = [ dr ( k ), qr ( k )] T

(20)

To reduce the computation time, the number of the inputs to ANN are reduced to three, by using rs* ( k ) and rs ( k ) , which also have the
s s s information of dr* (k ) , qr* (k ) , dr ( k ) , qr (k ) . s

The selection of hidden layer neurons normally requires several stages of iterations because there is no unique way to determine the optimum number of hidden layer neurons. In this work, the ANN consists of three layers with one hidden layer. The feedback from the ANN output to its input is introduced so the partial recurrent network is obtained and it is trained by conventional back-propagation algorithms as shown in the Fig.1. Fig.2 shows the internal structure of the RNN. The sigmoid functions are used at the hidden layer and the linear function is used at the output layer. ONLINE TRAINING OF RNN FOR SPEED ESTIMATION The output of the RNN is the estimated speed, which is subsequently used as the input of the adjustable model. To make the output of the RNN follow the real speed, an error and its energy function is defined as:

wkj ( k ) = k ( k )o j + wkj ( k 1) wkj (k ) = wkj ( k 1) + wkj ( k )

(22)

where, is a positive constant called the momentum constant and is usually in the range between 0.1 and 0.8.

k (k ) is the local gradient of the output layer

at kth sampling time can be calculated from the error energy function by using the following chain rule:

National Power Electronics Conference (NPEC 2010)

k (k ) =
E E r = net k r net k E r ( k ) r = r ( k ) r net k
and input (i) layer has to be as follows: (23)

w ji (k ) = j ( k ) zi ( k ) + w ji ( k 1) w ji ( k ) = w ji ( k 1) + w ji ( k )

(27)

where, r = f k (net k ); f k (.) is the linear activation function having unity gain
r (k ) r

indicates the Jacobian of the current

j (k ) is the local gradient of the hidden layer at kth sampling time can be calculated from the error energy function by using the following chain rule:

model and it cannot be calculated exactly. Therefore, the following equation is used instead of the Jacobian, proposed by Psaltis [12-13]:
dr (k ) s sgn r r s r qr (k ) sgn r

j (k ) =
where,

E E o j = ( net j ) o j ( net j )

(28)

o j (net j )

= f j' (net j ) = . o j .(1 o j )

(24)

E ( net k ) E = ( k ( k ) wkj ) = o j o j k ( net k ) k

Here, ( net j ) contributes to every error component of output layer. Hence,

Hence,

dr (k ) s sgn r (25) k (k ) = [e1 (k ) e2 (k )] s qr (k ) sgn r

The discretized form of adaptive rotor flux linkage model of Eq. (19) has been used for s qr (k ) s evaluating dr (k ) and in each r r sampling period. Using backward difference method, the discretized form of Eq. (19) can be expressed in following form:

j (k ) = . o j (k ) .[1 o j (k )] k (k ) wkj (29)

Training algorithm of RNN speed estimator The training algorithm of the RNN speed estimator is as follows: Randomization of weights Obtain the reference rotor flux vector rs* (k ) sampled from the voltage model using Eq. (18) at kth instant and calculate rs* (k ) Obtain the adjustable rotor flux vector rs (k ) sampled from the current model using Eq. (19) at kth instant and calculate rs (k ) Calculate the kth instant error vectors between the reference and adjustable rotor flux vectors. The energy function value is evaluated using Eq. (21) Adjust the weights of the RNN using Eq. (22) and Eq. (27) Calculate the output of the RNN as follows:

Rr T 1 rT s s dr (k ) (k 1) Lr dr s = R T s (k 1) qr (k ) T 1 r qr r Lr (26) R r Lm T 0 s L i (k 1) r ds + s R r Lm T i qs (k 1) 0 Lr
where, T is the sampling time Computation of error-signal term of hidden layer: The mathematical expression for the weight adjustment w ji (k ) between the hidden (j)

r (k ) = f k (net k ) = j wkj (k )o j

National Power Electronics Conference (NPEC 2010)

where, operating conditions to verify the performance of the proposed algorithm. Fig. 4.1 shows the results of the reference speed tracking control performance in both forward and reverse speed sensorless control operation under stepped rated load at steady state rated speed conditions. The effect of sudden application of load torque is compensated quickly by the vector controller and the estimated speed coincides with the actual speed exactly by the proposed estimation algorithm under loading condition also, with lower value of steady-state error. Fig. 4.2 shows the proposed algorithm has almost good speed estimation and stable speedsensorless control performance at low-speed operation also. Fig. 4.3 shows speedsensorless vector control performance of the proposed speed estimator during stepped reference command starting and rated speed stepped load perturbations. From all of the above results, it is shown that the proposed speed-sensorless control using RNN based speed estimator has almost good performance from low speed to the entire speed range and revealed that this method can be substituted to conventional FOC scheme with speed-sensor. Some common observations are also described as follows: Due to slight deviations between the estimated and actual speed (obtained from dynamic simulation) under different dynamic conditions such as starting, speed reversal and load perturbation transients, there exists mismatch between the reference and adaptive rotor flux model outputs also. However, these effects are compensated by the proposed flux error back propagation training algorithm of the RNN based speed estimator. It is observed that the reference rotor flux magnitude from the voltage model remains almost constant during all transient conditions. This constant and smooth rotor flux magnitude is always vital for vector control operation. However, the estimated rotor flux from adjustable current model tries to follow the reference flux by quickly compensating the effects of transients using flux error back propagation training algorithm of the RNN based speed estimator. CONCLUSION In this work, a multilayer RNN based speed

o j = f j ( net j ) =

1 1+ e
( net j )

net j = j w ji ( k ) z i

zi is the ith input signal

Repeat 2nd to 6th steps in the next sampling interval SIMULATION RESULTS AND DISCUSSION On the basis of trial and error, it has been seen that minimum of five nodes in the hidden layer are sufficient to give a fairly good simulation results of speed estimations. The overall block diagram of the robust speed sensorless indirect vector control is shown in Fig. 3. The terminal voltages (reconstructed from dc-link voltage) and the phase currents at every sampling instant are collected online from the vector drive SIMULINK model. These are used as inputs to the reference and adaptive rotor flux models of the RNN based speed estimator. The weights of the RNN are continuously updated online using backpropagation training algorithm coded inside the SIMULINK/S-Function block and the speed value is obtained at the RNN output. The estimated speed is then fed back in the speed control loop to realize the sensorless vector drive operation. Therefore, no offline training and training patterns are needed. This realizes the feasibility of on-line training with the induction motor drive in operation. The multilayer and the recurrent structure make the estimator robust to parameter variations and system noises. The learning rate , momentum constant and the slope of the sigmoid function have been determined by trial and error which shows the best results. These parameters are modified depending on the different speed references and loading conditions to achieve good performance. is fixed at 0.1 and is varied in between 0.5 to 0.8, is varied in between 0.5 to 1, to get good estimates with the changes of the input variables of the ANN with operating conditions. For low speed operation, is kept at lower value due to the changes of input variables to NN are small. Simulations were carried out on the various

National Power Electronics Conference (NPEC 2010)

estimator using online gradient descent error back-propagation training algorithm has been proposed for sensorless vector drive operation of an induction motor. The proposed algorithm is easy to realize due to its online training of ANN. It is shown that the proposed algorithm estimate the speed over the entire speed range from low to rated speed. Also, by properly selecting the different parameters of the speed estimator, it is possible to have almost robust speed estimation performance due to load variation or variable-speed operation. Hence, it is finally revealed that the proposed speed-sensorless vector control drive has good dynamic performance. APPENDIX Rating and parameters of induction motor used for simulation: Stator rated rms voltage per phase, Vrated = 220 V Stator rated rms line current, Irated = 11 A Rated speed, Nrated = 1457 rpm Rated Torque, Trated = 14.7 N-m
Fig. 3
r

Input layer 'i'

Hidden layer 'j'

Output layer 'k'

rs* (k )
rs (k )

r (k )

r (k 1)

Z 1

Fig. 2 Structure of the RNN

TL

r* +
r

PI Speed Controller FieldWeakening

Limitter

* Tem

* iqs

qd to q d Co ordinate Transforma tion

s s

s* iqs

qs d s to a bc Co ordinate Transforma tion

* ia

r*
r

Vector- i Controller
i ds iqs

* ds

i i

* b * c

s* ids

CurrentController + PWM Inverter

Stationary Frame IM Simulator

v a vb
a bc to qs d s Co ordinate Transformation
s s s s v ds vqs ids iqs

qs d s to qd Co ordinate Transformation

i a ib

ic

ia ib

RNN based Speed Estimator (Simulink/S-Function Block)

Block diagram of RNN based speed sensorless indirect vector drive using HCC

Rs = 1.26
Rr = 1.28
Fig. 4.1(a) Speed estimator tracking performance

Lls = Llr = 3 mH Lm = 105 mH

f = 50 Hz

P =4
J = 0.075 kg-m2
Sampling time, T = 200x10-6 sec
s iqd

Induction Motor Model

s dr*

s v qd

Reference Voltage Model

s qr*

+ +

e1
Fig. 4.1(b) Rotor speed, flux and stator current response Fig. 4.1 Forward and reverse speed sensorless control with load applied

e2

rs*
rs
RNN Speed Estimator

Adjustable Current Model

s qr

s dr

Back-propagation Algorithm

Z 1

Fig. 1 Structure of RNN based speed estimator

National Power Electronics Conference (NPEC 2010)

control of IM drives, Proc. of IEEE Industrial Electronic Society, IECON, vol. 2, pp. 10183, 1st Aug.4th Sept. 1998 [6] M A Ouhrouche, Estimation of speed, rotor flux and rotor resistance in cage induction motor using the EKF algorithm, International Journal of Power and Energy Systems, vol 22, no. 2, pp. 103, 2002 [7] Kumpati S Narendra and Kannan Parthasarathy, Identification and control of dynamical systems using neural networks, IEEE Trans. Neural Networks, vol. 1, no. 1, pp. 1, Mar. 1990
Fig. 4.2 Speed estimator performance with low speed sensorless control operation (1/10th of rated speed and no-load)

[8] Liang Jin and Madan M Gupta, Stable Dynamic Backpropagation Learning in Recurrent Neural Networks, IEEE Trans. Neural Networks, vol. 10, no. 6, pp. 1321, Nov. 1999 [9] L Ben-Brahim, S Tadakuma, and A Akdag, Speed control of induction motor without rotational transducers, IEEE Trans. Industrial Application, vol. 35, no. 4, pp. 844, Jul./Aug. 1999 [10] Lazhar Ben-Brahim, Motor speed identification via neural networks, IEEE Industrial Application Magazine, vol. 1, no. 1, pp. 28, Jan./Feb. 1995

Fig. 4.3 Speed estimator performance during speed sensorless control operation with stepped command starting and load perturbation

REFERENCES [1] P Vas, Sensorless Vector and Direct Torque Control, Oxford University Press, New York, 1998 [2] C Schauder, Adaptive speed identification for vector control of induction motor without rotational transducers, Proc. of IEEE IAS Annual Meeting, vol. 1, pp. 493, Oct. 1989 [3] T Ohtani, N Takada, and K Tanaka, Vector control of induction motor without shaft encoder, IEEE Trans. Industrial Application, vol. 28, no. 1, pp. 157, Jan./Feb. 1992 [4] B K. Bose, Modern Power Electronics and AC Drives, Pearson Education, India, 2002. [5] M Elloumi, L Ben-brahim and M A Alhamadi, Survey of speed sensorless

[11] Chee-Mun Ong, Dynamic Simulation of Electric Machinery using Matlab/Simulink, Prentice Hall PTR, New Jersey, 1998 [12] M M Gupta and N K Sinha, Intelligent Control Systems, IEEE Press, New York, 1996 [13] Seong-Hwan Kim, Tae-Sik Park, JiYoon Yoo, and Gwi-Tae Park, Speedsensorless vector control of an induction motor using neural network speed estimation, IEEE Trans. Industrial Electronics, vol. 48, no. 3, pp. 609, Jun. 2001 BIOGRAPHIES
Jyoti Prakash Mishra received his Bachelor Degree (Electrical Engineering), M.Tech Degree (Energy Management) with Distinction in the year 1996, 1999 respectively in India. This year recently he completed his Ph.D. from Electrical Engineering Department (Electric Drives and Power Electronics Group) of IIT Roorkee. He is working as an Assistant Professor in

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the Electrical Engineering Department of National Institute of Technology (NIT) Silchar, Assam. His research interests include Vector control of electric machines; Artificial Intelligence applications to electric drives; and Energy conservation Satya Pal Gupta received B.Sc. Engg. degree in Electrical Engineering from Engineering College, Dayalbagh, Agra,; M.E. degree in Advanced Electrical Machines from University of Roorkee; Ph.D. degree from University of Roorkee in 1971, 1973 and 1986 respectively. After doing M.E., he joined Jyoti Limited Baroda in 1975 and worked in area of Design and Development of MultiSpeed Induction Motors for two years. He then joined the Electrical Engineering Department of University of Roorkee (presently, IIT Roorkee), Roorkee in 1976 as Lecturer where he is currently Professor. While at Roorkee, he received a Commonwealth award for doing post-doctoral work at the Electrical and Electronic Engineering Department, University of Bristol (England), in 1989-90, on PWM Inverters for Control of AC Motors. He also worked at the University of Puerto Rico, Puerto Rico as an Associate Professor in 1990-91. He has guided 8 doctoral and more than 20 Masters theses. He has undertaken a number of consultancy and sponsored projects from industries and government departments. He introduced the experimental facilities in the field of Condition Monitoring of Rotating Electrical Machines at the Electrical Engineering Department, IIT Roorkee. His areas of interest are Power Electronics control of Electric Drives, Vector control of induction motor and Condition monitoring of electrical machines. Dr. Gupta is a Fellow of the Institution of Engineers (India), member of IEEE and a life member of the Indian Society of Technical Education. Narayana Prasad Padhy, born in India, Senior Member(09) IEEE, received his Ph.D.,(Power Systems Engineering) from Anna University, Chennai, India in the year 1997. He is working as a professor in the Department of Electrical Engineering, Indian Institute of Technology (IIT) Roorkee, India. During 2005-06 he worked as a Research Fellow in the Department of Electronics and Electrical Engineering, University of Bath, UK., under BOYSCAST Fellowship from Govt. of India. Currently he is on leave and working as a Research Fellow in the Department of Electrical and Computer Engineering, Ryerson University, Toronto, Ontario, Canada. He has been awarded Humboldt Research Fellowship for Experienced Researchers in 2009 to carry out research at University Duisburg-Essen, Germany. His research interests are in power systems analysis, pricing, economics, optimization and AI.