# Time Domain Investigation of Hybrid Intelligent Controllers Fed Five-Phase PMBLDC Motor Drive
## 6 Conclusions  
The selection of compatible motor drive systems and controllers for electric vehicle applications pertaining to steady and intermittent loads is urgently needed, and this work precisely caters to this requirement. The dynamic characteristics of the five-phase PMBLDC drive system with conventional fuzzy, PI, adaptive hybrid-fuzzy-PI, and ANFIS controllers for step loading conditions and linear loading conditions were simulated, and their time domain specifications were compared in this research. The step loading conditions were experimentally carried out for PI, fuzzy, and fuzzy- PI (Hybrid), and similar time domain analyses were compared. It was found that, among the four controllers used in the simulations, the ANFIS controller gave a better dynamic response, while in \begin{table}
\begin{tabular}{c c c c c c c c} \hline \hline
**Controllers** & \begin{tabular}{c} **Delay Time** \\ **(sec)** \\ \end{tabular} & \begin{tabular}{c} **Rise Time (sec)** \\ \end{tabular} & \begin{tabular}{c} **Peak Time** \\ **(sec)** \\ \end{tabular} & \begin{tabular}{c} **Percentage** \\ **Overshoot (\%)** \\ \end{tabular} & \
\begin{tabular}{c} **Settling Time** \\ **(sec)** \\ \end{tabular} &
\begin{tabular}{c} **Torque Ripple** \\ **(Nm)** \\ \end{tabular} \\ \hline PI & 0.18 & 0.04 & 0.25 & 0.10 & 0.5 & 0.324 & 37.5 & 20.19 & 2.5 & 4.07 & 0.49 & 1.72 \\ Fuzzy & 0.13 & 0.03 & 0.2 & 0.07 & 0.61 & 0.096 & 8 & 0.334 & 1 & 0.09 & 0.04 & 2 \\ Hybrid Fuzzy-PI & 0.15 & 0.038 & 0.24 & 0.104 & 0.63 & 0.168 & 19.54 & 5.127 & 1.5 & 0.19 & 0.38 & 2 \\ ANFIS & - & 0.03 & - & 0.05 & - & 0.07 & - & 0.217 & - & 0.06 & - & 0.06 \\ \hline \hline \end{tabular}
\end{table} 
Table 9: Comparison of different controllers (Simulation and Experiment). \begin{table}
\begin{tabular}{c c c c c c c c c c c c} \hline \hline
**Controllers** & \begin{tabular}{c} **Delay Time** \\ **(sec)** \\ \end{tabular} & \begin{tabular}{c} **Rise Time** \\ **(sec)** \\ \end{tabular} & \begin{tabular}{c} **Peak Time** \\ **(sec)** \\ \end{tabular} & \begin{tabular}{c} **Percentage** \\ **Overshoot (\%)** \\ \end{tabular} & \
\begin{tabular}{c} **Settling Time** \\ **(sec)** \\ \end{tabular} &
\begin{tabular}{c} **Torque Ripple** \\ **(Nm)** \\ \end{tabular} \\ \hline PI & 0.18 & 0.04 & 0.25 & 0.10 & 0.5 & 0.324 & 37.5 & 20.19 & 2.5 & 4.07 & 0.49 & 1.72 \\ Fuzzy & 0.13 & 0.03 & 0.2 & 0.07 & 0.61 & 0.096 & 8 & 0.334 & 1 & 0.09 & 0.04 & 2 \\ Hybrid Fuzzy-PI & 0.15 & 0.038 & 0.24 & 0.104 & 0.63 & 0.168 & 19.54 & 5.127 & 1.5 & 0.19 & 0.38 & 2 \\ ANFIS & - & 0.03 & - & 0.05 & - & 0.07 & - & 0.217 & - & 0.06 & - & 0.06 \\ \hline \hline \end{tabular}
\end{table} 
Table 8: Comparison of PI, Fuzzy, and Adaptive Hybrid Fuzzy-PI Controllers (Experiment). the experimental validation among the three other controllers, the fuzzy controller gave a much-improved dynamic response to the overall system. The controller characteristics were compared in terms of rise time, delay time, percentage overshoot, peak time, starting torque, settling time, and torque ripple. Hardware results based on the ANFIS controller will be considered for future research. Moreover, the impact of different drive cycles for EV applications on the time response can be investigated in the future. Conceptualization, M.A.I. and N.S. ; Methodology, M.A.I., N.S. and A.B. ; Proposed Architectures Designing and Implementation: M.A.I. and N.S. ; Software, M.A.I., N.S., R.A. and S.A.; Validation, M.A.I., R.A. and S.A.; Formal Analysis, M.A.I. and N.S. ; Investigation, M.A.I., N.S. and A.B. ; Resources, R.A. and S.A.; Data Curation, M.A.I. and N.S. ; Writing--original draft preparation, M.A.I., N.S., A.B., R.A. and S.A.; Writing--review and editing, M.A.I. and A.B. ; Visualization, M.A.I., N.S. and A.B. ; Supervision, M.A.I. ; Project Administration, M.A.I. and N.S. All authors have read and agreed to the published version of the manuscript. This research received no external funding. Not applicable. The data used to support the findings of this study are included in the article.