Fault Tolerant Control for Induction Motor in Electrical Vehicle Moussa Boukhnifer and Aziz Raisemche Laboratoire Commande et Syst` emes ESTACA, 34 rue Victor Hugo F-92300 Levallois-Perret, France. moussa.boukhnifer@estaca.fr Abstract— Induction motor is an important system com- ponent in integrated electrical vehicle working on different operating conditions. Due to these operations, robustness and performance of the control interfaces should be taken into account in the motor design. In this paper, we apply a new architecture for a fault tolerant control using Youla parame- terization for an induction motor. The distinguished feature of proposed controller architecture is that it shows structurally how the controller design for performance and robustness may be done separately which has the potential to overcome the conflict between performance and robustness in the traditional feedback framework. A fault tolerant control architecture includes two parts: one part for performance and the other part for robustness. The controller design works in such a way that the feedback speed control of the induction motor will be solely controlled by the proportional integral PI performance controller for a nominal model without disturbances and H∞ robustification controller will only be activated in the presence of the uncertainties or an external disturbances. The simulation results demonstrate the effectiveness of the proposed fault tolerant control architecture. Keywords: fault tolerant control, robust control, induction motor, electrical vehicle. I. I NTRODUCTION Nowadays the technology is improving very fast, and the planes are progressing in the same way, especially the systems of the electrical vehicle. We are in front of a major change in the system technology of the plane, going from the mechanical to electrical motor, where the safety and the control of the electric motor like the induction motor has become the major issue. Numerous FTC control strategies have already been imple- mented in the literature. The fault-tolerant control approach for four-wheel independently-driven electric vehicles have proposed in [2] . In this paper an adaptive control based passive fault-tolerant controller is designed to ensure the vehicle system stability and to track the desired vehicle motion when an in-wheel motor/motor driver fault happens and simulations results are given using CarSim. In [3] two techniques for maintaining a constant torque when faulted are applied to two very different fault tolerant aerospace drives. It should be mentioned as far as we know, several works have been reported for fault tolerant control of mechatronic systems [1], six-phase induction machine [4], hydraulic ac- tuator [5], vehicle [6] driving systems, spacecraft system [7] and lot of works about the modeling, the conception and the FIG. 1: Electrical vehicle architecture design of the electric vehicle [8] [9] [8] but few works report fault tolerant control of electrical vehicle. This paper proposes to combine both fault tolerant control and robust control areas to control induction machine in electrical vehicle. This paper presents a general architecture for fault tolerant control using Youla parametrization for induction machine in electrical vehicle. The distinguished feature of the proposed controller architecture is that it shows structurally how the controller design for performance and robustness may be done separately which has the potential to overcome the con- flict between performance and robustness in the traditional feedback framework. When a sensor fails or degrades, the controller switches and uses the observer’s output instead of the original system’s output. The controller architecture includes two parts: the first one for performance and the second one for robustness. The controller architecture works in such a way that the feedback control system will be solely controlled by the proportional plus double-integral PI performance controller for a nominal model and the H ∞ robust controller will only be activated in the presence of the uncertainties or external disturbances. This paper can be summarized as follows. The induction motor model is presented briefly in section 2. In section 3, we recall the standard Youla parametrization before introducing the proposed FTC control architecture in section 4. Then, section 5 presents the simulation results without and with the proposed robust FTC controller when subjected to external perturbations and faulty sensor operation.