constraints satisfaction cost functions current control current ripple dc-ac power converters electric drives field-oriented control fixed switching frequency harmonic distortion high-frequency losses local controllers meta-heuristic algorithms minmax model predictive control modelling multi-phase drives multiphase drives multiphase induction machine multiphase induction machines multiphase induction motor drives natural fault tolerance observer off-line identification methods predictive current control pulse width modulation sliding mode control time delay estimation variable sampling virtual voltage vectors winding configuration