I. Introduction
Drive systems are widely used in every aspect of life, so knowledge about the electrical drives is essential for any electrical engineer. Modern drives consist not only of motor, but also of power electronic converter equipped with built-in microprocessor-based controller. Issues like electrical machines, converters, control systems and control theory are part of the study program at the Faculty of Electrical Engineering, Department of Power Electronics, Electrical Drives and Robotics, Silesian University of Technology.