In this paper, the effect of 3-level inverter’s MOSFET switching at 33 different PWM frequencies, has been compared from 15 kHz to 2 MHZ, in relation to control loop stability, transfer function’s coefficients variation, system response and speed characteristics. The position of rotor in 8 pole, wye-winding 7.5 Hp i.e., 5.5 kW with service factor of 1.15 (≈8.6 Hp), 72VDC, 85.6A, 14.27 Nm torque, with per phase insulation temperature of 311 ◦ F, at an efficiency of 89.2% is estimated without sensor using sliding mode observer implemented with field oriented control algorithm. The decoupled flux and torque components are controlled by discrete PI with anti-windup/reset and IIR filters. The coefficients of IIR applied in the speed and SMO control block, and other parameters like gain, ADC are mentioned along with the resulting without SMO or with SMO closed loop transfer functions at each of these 33 frequencies along with the change in the coefficients of PI (errors, Ki, Kp), of Iq, Id, field weakening, speed controllers are mentioned. The 132 values, 33 values of e, Ki, Kp for each of these four controllers at these 33 PWM frequencies are tabulated, which can be used to design prototypes with higher power densities. The relative control loop stability with SMO is analyzed and tabulated with gain, phase margins along with eigen values of the characteristic equation.

This is the second part of the four-part series paper, where the novel mathematical dynamical modelling of transtibial prosthetic leg has been developed, which will be used in the algorithm for guidance and calculating the approximate trajectory of movements with the aim to help amputee’s patients with dementia, paralysis,  monoplegia, hemiplegia, paraplegia, cancer, infection or from induced virus/parasites, which impairs decision making. The hardware of ankle joint motor and metatarsophalaneal joint motor with beta logic been explained. The mathematical 4-rod pendulum equations with Lagrangian and Hamilton are developed for four rigid links and gait cycle. The mathematical models developed in these papers are also useful for doctors in studying gait and finding the solution for ailments, various abnormalities and disorders of the musculoskeletal system. The model has been tested in simulation and found to be promising to be tested for clinical purposes,even the patellar reflex arc test has shown positive response from the leg; this reduces the expenses which even after expenses is ineffective but not been clinically tested.

This is a four-part series paper, where the hardware design, mathematical model and the adaptive controller design has been explained for amputee’s who are not good candidates for the available prosthetic legs and need caretaker to make any physical movement. The proposed design aims to help patients with two medical conditions - impaired mobility and impaired decision making, that is, amputee and only with dementia, paralysis,  monoplegia, hemiplegia, paraplegia, cancer, infection or from induced virus/parasites, where decision making is impaired. In these conditions, it is challanging, very difficult with discomfort and even unsafe to use the existing expensive prosthetic legs due to the nature of medical conditions, and thus impossible to use any of the available transtibial legs. The design is intended to help such patients,allowing them to wishful control movements with natural feeling and with indication of dangerous paths including stairs detection, obstacles detection, uneven slopes, which can be even sent remotely to the caretaker. This transtibial is attempted to be imitated as real leg movements of climbing and descending ability, up and down, back and forth, at three joints - knee, ankle and metatarsophalaneal joints, based on sensorless SMO which in turn has feedback from NMPC,Kalman and particle filter, designed with 9 DoF and 4 rigid linkages.The simulation has shown to be a promising concept and is expected to be successful for use in practical clinical purposes but the model has not been clinically tested. This Part-I of the paper explains the mechanical considerations, design calculations and sensors.

This is a three-part series, where the numerical  discrete-time analysis and comparative analysis of 72 Ah,Lithium Ion Battery (LIB) is presented. The numerical analysis has been explained in detailed with two non-linear Kalman filter varients, namely Unscented Kalman Filter(UKF) and Extended Kalman Filter(EKF), both in combination with event based Kalman Filter algorithm. The discrete-time state equations have been developed for 8RC equivalent circuit model, to model any variant of LIB, irrespective of recommended application type. LIB has been modeled with 8 parallel RC branches with also taking into account various non-linear parameters,thermal(modeled with thermal mass, convection, ambient temperature variation),battery charge-disharge cycle degration effect and aging. The comparative results have been tabulated from 1 RC to 8 RC and compared with experimentally measured. 400 cells are arranged to give 72 Ah, where each cell has rating of 6.66 Wh. In the first part, the UKF algoritm along with event-based kalman filter has been explained with the derivation of equations.I m not completing research paper, the earlier version got lost in computer crash. One part is survived, uploaded it.I will not re-write or submit paper as left R&D.