This paper proposes a hybrid recurrent neuro-fuzzy (RNF) architecture for rotor speed regulation of indirect¯eld oriented controlled (IFOC) induction motor (IM) drive. This approach incorporates Takagi-Sugeno-Kang (TSK) model-based fuzzy logic (FL) laws with a four-layer arti¯cial neural networks (ANNs) scheme. Moreover, for the proposed RNF an improved selftuning method is developed based on the IM theory and its high performance requirements. The principal task of the tuning method is to adjust the parameters of the FL in order to minimize the square of the error between actual and reference output. The convergence/divergence of the weights is discussed and investigated by simulation.Nomenclature R s ; R r stator and rotor resistances () i ds ; i qs direct and quadrature stator currents (A) i dr ; i qr direct and quadrature rotor currents (A) v ds; v qs direct and quadrature stator voltages (V) v dr; v qr direct and quadrature rotor voltages (V) L s ; L r ; L m stator, rotor and mutual inductance (H) ds ; qs direct and quadrature stator°uxes (Wb) dr ; qr direct and quadrature rotor°uxes (Wb) T em electromagnetic torque (NÁm) ! r ; ! e ; ! sl rotor, synchronous and slip frequency (rad/s) J CIRCUIT SYST COMP Downloaded from www.worldscientific.com by NANYANG TECHNOLOGICAL UNIVERSITY on 08/20/15. For personal use only.r , e , sl rotor, synchronous and slip angle (rad) r rotor time constant (L r =R r Þ (s) J inertia moment (kgÁm 2 ) n p number of pole pairs