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Reference Current Computation Methods for Active Power Filters: Accuracy Assessment in the Frequency Domain
Jos Mara Maza Ortega, Manuel Perales Esteve, Manuel Burgos Payn, Antonio Gmez Expsito, Fellow, IEEE, and Leopoldo Garca Franquelo, Fellow, IEEE

AbstractThis paper focuses on the steady-state response of existing methods for computing the reference current of active power lters. For each class of methods, the main source of discrepancy between the load harmonic current and the computed reference current is identied and the frequency spectrum of the resulting error is analytically determined. Although this topic has been partially addressed in previous publications, the proposed frequency-domain approach provides valuable qualitative information about how the errors are produced and distributed, which is masked when the analysis is carried out in the time domain. First, the frequency-domain formulation is separately presented for each method. Then, a comparison of the resulting errors is performed on a case study. Finally, some experimental results are given to validate the proposed frequency-domain analysis. Index TermsActive power lters, harmonics, power quality.

Fig. 1. Operation principle of the parallel active lter.

I. INTRODUCTION

HE widespread use of power electronic equipment within the industrial, commercial and residential sectors has led to an increase in the harmonic contents of voltages and currents. As a consequence, the ideal behavior of the electric power system as a mostly linear circuit with pure sinusoidal waveforms does not hold nowadays. In this regard, a number of standards and norms, either restricting the harmonic current injections of nonlinear loads or imposing limits to the harmonic voltage pollution, have been developed in order to keep as much as possible the former ideal conditions. Harmonics can be limited either by improving the design of nonlinear loads (e.g., increasing the number of pulses, enlarging the ac choke inductance, considering active front-ends, etc.) or by adding lters to the power system. Although passive lters have been traditionally used for this task, the ongoing sustained developments in power electronics have made the use of active power lters (APF) a competitive alternative. In fact, largely due to the advantages of APFs over passive designs, it can be stated that ltering technology is currently closer to active methods.
Manuscript received October 8, 2003; revised August 17, 2004. This work was supported by the Spanish Ministry of Science and Technology under Projects DPI2001-2367 and DPI2002-04416-C04-04. Recommended by Associate Editor H. du T. Mouton. J. M. Maza Ortega, M. Burgos Payn, and A. Gmez Expsito are with the Department of Electrical Engineering, University of Sevilla, Sevilla 41092, Spain (e-mail: jmmaza@us.es; mburgos@us.es; age@us.es). M. Perales Esteve and L. Garcia Franquelo are with the Department of Electronic Engineering, University of Sevilla, Sevilla 41092, Spain. Digital Object Identier 10.1109/TPEL.2004.842970

Among the large number of papers dealing with this topic that have been published during the last decade, the reader is referred to [1] for a revision of the state of the art. The prevailing topology for APFs is undoubtedly the parallel connection, in which the harmonic current demanded by the nonlinear load is injected by the shunt lter (see Fig. 1). Assuming ideal conditions, both the source current and load voltage reduce to sinusoidal waveforms under this conguration. In order to perform such a harmonic compensation, the APF needs to [1]: a) measure voltages, currents and any other signal used by its control algorithm, b) compute the reference current to be injected, which reduces in most cases to extract the harmonic contents and the reactive power absorbed by the load, and c) calculate the gating signals for the inverter device in such a way that the APF output current follows the reference current previously computed. Naturally, the overall lter behavior is mainly dictated by the second and third stages, although delays and other practical limitations of the measurement subsystem may be also responsible for the nonideal response of the APF. A separate and detailed assessment of every stage provides some benets that cannot be achieved when the analysis is performed in a global manner, such as: comparison of the efciency or accuracy of existing methods for computing or modulating the reference current [2], detection of APF misoperation, inuence of individual errors on the overall APF performance, etc. Other practical implementation issues are studied in [3], [4]. This paper is focused on the computation of the lter reference current. Assuming steady-state conditions, a comparison is performed in terms of accuracy among well-established methods developed for this purpose. Unlike previous approaches to this problem, all of them formulated in the time domain [5], the proposed analysis is carried out in the frequency

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domain. This way, not only are the resulting errors quantied but certain qualitative information characterizing the error sources is also obtained. The outcome of this study, related with the shortcomings of existing methods, can be used as a starting point to establish new algorithms that should be eventually free of such limitations. The rst section is devoted to analyze in the frequency-domain the existing methods for computing the reference current. Then, a test case with distorted voltage source waveform is used to compare all methods considered in the paper, including an experimental validation of the proposed frequency-domain models. Finally, the main conclusions are pointed out.

Fig. 2. Block diagram illustrating the computation of the reference current for the instantaneous p-q method.

2) In case of periodic signals, the complex Fourier transformation can be applied to decompose the Park vector into harmonic components (1) is a constant complex phasor rotating at where angular speed. Note that the sum extends for both positive and negative indexes. For a given harmonic, positive and negative indexes correspond respectively with positive and conjugate negative sequences of the original three-phase harmonic signal. Consequently, the positive and negative sequences of a single harmonic component are treated as different harmonics. Note that, for balanced systems, each harmonic corresponds to a sequence as follows: positive sequence harmonics are ( ) and negative sequence harmonics are ( ). In case of unbalanced systems, the following additional harmonics may arise: positive sequence ( ), negative sequence harharmonics ( ), even and triplen harmonics monics both of positive and negative sequences. The following subsections are devoted to separately perform the frequency-domain analysis of the aforementioned methods for the computation of APFs reference current. As the main objective is to establish a quantitative comparison among these methods, it is interesting to dene a common gure of merit to , deevaluate all of them. In this paper, the error function ned as the difference between the computed reference current and the ideal reference current (i.e., the load harmonic current), is used (2) The error function is a time-dependent and periodic function that can be described in terms of its harmonic components . Each component represents the error associated with the respective reference current computation method in estimating the -th load current harmonic (3)

II. REFERENCE CURRENT COMPUTATION ERRORS Existing approaches to compute the APF reference current can be divided into time-domain and frequency-domain methods, the former being usually preferred because the compensating signal is calculated almost instantaneously without the application of any DFT. Indeed, the need for a fast response in this kind of application, where the ability to quickly track sudden load changes is crucial, has motivated the development of time-domain methods to the detriment of those techniques formulated in the frequency domain. This paper is restricted to time-domain methods for harmonic reduction when applied to three-phase, three-wire APFs. Due to space limitations, the reactive power compensation goal will be ignored. However, the formulation developed below could be easily extended to consider such a requirement, because the behavior of reference current computation methods with and without the inclusion of reactive power compensation is quite similar. Even though the number of methods focused on this goal is high, the more relevant ones analyzed in this paper can be broadly classied into the following categories: 1) instantaneous - methods [6], [7]; 2) synchronous - reference frame methods [8], [9]; 3) ltering techniques. Within this group a new subdivision can be made: a) notch lters [10] made; b) approximated band-pass resonant lters [11], [12]; c) resonant lters or stationary frame lters [13], [14]. This classication does not include other interesting algorithms such as the synchronous detection method [15]. The reason is that this technique cannot be applied to three-phase three-wire systems due to the existing dependence between phase currents. Note also that most procedures recently reported, while presenting certain improvements over those referred to above, rely on the same foundations, which means that the formulation proposed in this paper can be also adapted to such methods. It is convenient for the analysis to be performed in the Park domain in order to deal with three-phase and three-wire systems. Major advantages of this formulation can be summarized as follows [16]. 1) A three-phase signal can be represented as a time-dependent complex quantity called Park vector.

A. Instantaneous - Methods This method is based on the transformation of currents and voltages to the axes, where the instantaneous active and reactive powers - are dened [6], [7](see the corresponding block diagram in Fig. 2). Basically, assuming sinusoidal voltages, both and can be divided into a constant and a uctuating term, the second being

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produced by the harmonic current demanded by the nonlinear load. Then, the reference current can be easily obtained by isolating these uctuating power components through a high-pass lter. Assuming sinusoidal voltages and ideal lter behavior the reference current can be extracted without errors. However, as explained below, an error on the computed reference current is expected when those conditions do not hold. The axes are equivalent to the stationary reference frame where the Park domain is dened. Furthermore, it can be demonstrated that instantaneous active and reactive powers correspond to the real and imaginary components of the complex [16] Park power (4) can be split into a constant This complex Park power and a uctuating term, equivalent to the - decomposition carried out in [6], as

Fig. 3. Block diagram illustrating the computation of reference current for the synchronous reference frame method.

voltage distortion or voltage unbalance, an error arises in the reference current that can be expressed as (11) can be easily comThe harmonic spectrum of the error puted by applying the Fourier transform, its -th harmonic being (12)

(5) Then, the reference current formulated in the Park domain can be derived from the uctuating component of the Park power as shown in Fig. 2. In practice, an estimation of this power comthe estimate of ponent is obtained by subtracting from provided by a low-pass lter , that is (6) For a typical 5-Hz bandwidth low-pass lter, with extremely low provides almost the same value gains at higher frequencies, as . Therefore, according to this assumption (7)

where (13) Details of the method used to solve the above integral can be found in Appendix A. It can be shown that the value of and its are nonzero only in a number of cases related error harmonic that depend on the structure of the polynomial conforming the denominator of (38) in Appendix A, [18]. In fact, the nonzero error harmonics exclusively depend on the maximum degree of this polynomial, , the minimum difference of exponents of two consecutive terms, , and the maximum absolute value of its negative exponents, , as (14)

The good agreement between experimental and theoretical results provided in Section IV reveals that this simplication is accurate enough. Then, the reference current formulated in the Park domain can be expressed as (8) Substituting the corresponding harmonic components into (8) yields

For example, in case of a load voltage with harmonic components , and , the polynomial comprising the de, with , nominator is and . This means that errors arise in harmonics verifying for any integer , that is: As a consequence, once the voltage harmonics are known, the harmonic spectrum of the error function related to the reference current is fully dened, providing a preliminary and valuable qualitative information in case of voltage distortion, without the need to carry out any computation. B. Synchronous Reference Frame Methods

(9) and, taking into account (5) (10) From the equations above it is clear that, in case of sinusoidal voltages, the computed reference current perfectly matches the harmonic current demanded by the load. However, in case of

This method relies on the transformation of currents to a synchronous rotating reference frame as shown in the block diagram of Fig. 3. In such a framework, the fundamental current component turns into a dc quantity, which can be obtained by applying a low-pass lter. In order to perform the transformation, a synchronization with the system voltage is needed to extract the phase information, which is usually achieved through a phase-

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locked loop (PLL) [8], although other methods can be used as well [9]. Two error sources can be identied when computing the reference current by this procedure, namely: a) response of the low-pass lter used to extract the dc current in the synchronous reference frame and b) inuence of voltage distortion on the synchronization system employed to estimate the voltage phase. As explained in the previous subsection, ltering errors can be considered negligible compared to errors originating in the voltage distortion. The general formulation of this reference current computation method is quite simple. The current in the stationary frame can be expressed as (15) The change from this stationary to a synchronous rotating ref, erence frame is performed by means of the rotation factor where is the phase estimation given by the synchronization system (16) The reference current is obtained by subtracting from this current its dc component and transforming back to the stationary reference frame, as shown in Fig. 3. An estimation of that dc , is provided by a low-pass lter component, (17) Assuming again an ideal lter behavior the following simplication applies: (18)

Fig. 4. Block diagram of a three-phase PLL.

its phase when the setpoint is introduced. Since the -axis voltage is set to zero by the PI regulator, the following equation holds in case of distorted voltage: (21) and are, respectively, the RMS value and phase where associated to the voltage . An estimation of the load voltage phase, , can be derived from (21) by assuming that the difference between the estimated phase and the real voltage phase, , is small enough to linearize the problem. Under this hypothesis, the approximations and hold, and the estimation of the load voltage phase can be formulated as (22) Once the phase is estimated as a function of the voltage hardemonics, the harmonic spectrum of the error function ned in (20) can be computed as (23) where

Once the dc component is obtained from

is computed, the reference current (24) (19) Note also that integrals above is computed previously as a sum of

Then, the error, as dened in (2), is the difference between the reference signal and the load current harmonics (20) Note that, when the system voltage phase is perfectly estimated ), assuming ideal lter behavior, the dc current ex(i.e., actly corresponds to the fundamental component of the load current, and the reference current perfectly matches the load current harmonics. Therefore, it is necessary to obtain a phase estimate in order to compute , which clearly depends on the synchronization method adopted. In this paper, the PLL approach is considered because of its widespread use for this task. Fig. 4 represents the major blocks composing a three-phase PLL, whose principle of operation can be found in [19], [20]. Basically, the PLL locks the frequency of the voltage signal and

(25) A complete description of how these integrals are solved can be found in Appendix B. Again, based on these theoretical considerations, the current harmonics where the error is centered can be solely expressed as a function of the load voltage harmonic orders as (26)

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Fig. 5. Block diagram illustrating the computation of the reference current for the notch lter method.

Fig. 6. Block diagram illustrating the computation of the reference current for the stationary reference frame method.

where . Returning to the previous example where and , the voltage contains the harmonic components , the equation determining the harmonic errors is (27) Note that, as the indexes in harmonics verifying and , are integers, errors arise being an integer, that is:

C. Filtering Techniques These methods are based on the application of a transfer function to extract the load current harmonic components. The main difference between these techniques and those analyzed previously lies in the fact that the system voltage is not used to compute the harmonic components. Therefore, voltage distortion does not play a role under these methods in the computation of the reference current, the main error source arising in the particular formulation adopted for the transfer function. As stated in the above classication, this group comprises several methods, ranging from the simplest notch lter technique [10] to the sophisticated stationary reference frame method [13], [14]. In this paper, both extremes of the ltering techniques are analyzed. The frequency-domain approach is quite simple and can be formulated in each case as follows. Notch Filter: This method eliminates the fundamental component of the load current by applying a transfer function to each phase [10] as shown in the block diagram of Fig. 5. The reference current in the Park domain can be written as (28) where is the transfer function evaluated at the th harmonic which, for a narrow-band notch lter around the fundamental frequency and a cutoff frequency , is given by (29) Then, the error signal computed as (2) can be expressed as (30) The current error harmonics dened in (3), obtained from (30) as , can be easily

Note that, because of the independent application of the notch lter to each phase, it is not possible to compensate for the negative sequence of the load current fundamental component. Stationary Reference Frame: This method (Fig. 6) is based on the computation of a global transfer function, , for the synchronous reference frame method [13], [14]. As explained in [14], contrary to what Fig. 6 suggests, for the sole purpose of obtaining , the synchronous system is not actually needed, as turns out to be independent of . Consequently, voltage distortion and/or imbalance do not lead to errors when computing . the reference current Let be the transfer function applied in the synchronous reference frame to compute the reference current, usually a highpass lter designed to extract the load current harmonics. Then, the following generalized matrix form holds for the computation in the stationary reference frame: (32) where (33) (34) Combining the rows of (32) and substituting by its counterpart in the Fourier domain, a formulation in terms of the Park vector can be derived as (35) Hence, under the same assumptions adopted to formulate (29)(31), considering as a high-pass lter with transfer , the harmonic contents of the current function error is expressed as (36) A remarkable difference with respect to the notch lter method is that the reference current contains in this case information about the negative sequence of the fundamental component, making it possible the compensation of this term. III. TEST CASE This section presents an example where the frequency-domain approach developed previously for several categories of methods is applied. The objective is to establish a comparison among those methods as a function of the voltage distortion. For

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TABLE I HARMONICS OF THE SOURCE VOLTAGE

Fig. 7. Comparison of errors as a function of voltage harmonic distortion for the negative sequence of the fth harmonic. TABLE II HARMONICS OF THE NON-LINEAR LOAD CURRENT

Fig. 8. Comparison of errors as a function of voltage harmonic distortion for the positive sequence of the thirteenth harmonic.

this analysis, the current absorbed by the nonlinear load corresponds to real measurements obtained from an AC adjustable speed drive, while the voltage supply represents the low-voltage network. The harmonic contents of both signals is detailed in Tables I and II. Note that the system voltage contains not only ) but also a negative sequence harmonic terms ( 0.6%). Note also that in the fundamental component ( noncharacteristic harmonics are considered, i.e., third harmonic of positive and negative sequences, fth harmonic of positive sequence, etc. Additionally, the effect of the source impedance is neglected in the results shown below, which means that the load voltage equals the source voltage. Figs. 79 show, for the negative sequence of the fth harmonic, positive sequence of the thirteen harmonic and negative sequence of the fundamental component, respectively, the errors associated with the instantaneous - and synchronous methods for the computation of the reference current as a function of the voltage harmonic distortion. Errors corresponding to the ltering techniques, which are not a function of the voltage harmonic distortion, are collected in Table III. In all cases, the

Fig. 9. Comparison of errors as a function of voltage harmonic distortion for the negative sequence of the fundamental harmonic.

error level is presented as a percentage of the harmonic load cur. The voltage distortion is increased rent, that is by keeping constant the positive sequence of the fundamental component while modifying the remaining terms according to

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TABLE III ERRORS ASSOCIATED WITH FILTERING METHODS Fig. 11. Description of the experimental setup.

notch lter presents in this case the maximum error because it does not block the negative sequence. IV. EXPERIMENTAL RESULTS This section is devoted to validate the proposed frequencydomain models for the computation of the reference current using the experimental setup shown in Fig. 11. The analyzed time-domain methods have been implemented on a real-time system, namely a 32-b oating-point TMS320VC33 operating at 100 MHz with 20-kHz sampling frequency. As the interest is only focused on the computation of the reference current, this implementation does not consider other APF practical issues, such as measurement of signals, modulation of the reference current, etc. The process can be summarized as follows: from load voltage and current signals previously stored on the processor memory, the reference currents are computed and converted to analog values by means of a 12-b four channel D/A converter, generating the voltage signals which are captured by the oscilloscope. The load voltage used for these experiments is a synthetic waveform with a relatively large harmonic distortion 11.6%) in order to more clearly show the error associ( ated with those methods using voltage information. In addition to the positive sequence fundamental component, the voltage waveform contains ve times the remaining voltage harmonics, including the negative sequence of the fundamental frequency shown in Table I, while the load current fully corresponds with that of Table II. From the reference currents registered by the oscilloscope two results are obtained: 1) On the one hand, the experimental error is determined by subtracting the load current harmonics to the experimental reference currents, according to (2). Table IV shows the theoretical and experimental relative errors ( ) associated with each analyzed method. The experimental and theoretical values are in good agreement for all tested methods. The poor behavior of the notch lter in compensating the fundamental negative sequence is also apparent, though it performs well for the remaining components. The stationary reference frame method is the one leading to the lowest errors for the analyzed harmonics. 2) On the other hand, the source current can be computed by subtracting the reference current from the load current. Obviously, the source currents derived in this way assume that the APF behaves ideally, giving a rst approximation to the ltering characteristics and a qualitative information about the lter response. Figs. 1215 show the three-phase source current for each analyzed method. These experimental results conrm the relative poor behavior of the instantaneous - and synchronous reference

Fig. 10.

Comparison of the total harmonic distortion of the source current.

the voltage prole of Table I. Therefore, not only the harmonic contents but also the negative sequence of the fundamental comadopted for the ponent are modied. The cutoff frequency notch lter and stationary reference frame methods is 5 Hz, which is a compromise value between the dynamic and steadystate performances. The following conclusions are obtained. 1) Fig. 7 shows that the synchronous reference frame method gives rise to the largest error in the negative sequence of the fth harmonic, contrary to the general belief in the instantaneous - methods being less accurate when the voltage is distorted. However, the behavior is the opposite when other harmonics, such as the positive sequence of the thirteenth harmonic, are considered (see Fig. 8). , overall per2) In addition to individual error harmonics, formance of tested method can be assessed by computing the harmonic distortion of the source current. This index can be easily derived when ideal APF behavior is ascapability and perfect tracking sumed, i.e., innite of the reference current [4]. Fig. 10 shows that, from this point of view, the instantaneous - method is less efcient than the others, while the synchronous reference frame method, in spite of its PLL-related larger error, is less sensitive than the former. 3) It is also interesting to note both in Fig. 9 and Table III the negative sequence of the fundamental component. The

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TABLE IV COMPARISON OF THEORETICAL AND EXPERIMENTAL RELATIVE ERRORS jE j=jI E I j 1 100 (%) FOR THE DIFFERENT METHODS

Fig. 13. Source currents using the synchronous d-q method (horiz: scale = 2 ms=div and vert: scale = 6 A=div).

2 ms=div and vert: scale = 6 A=div).

Fig. 12.

Source currents using the instantaneous p-q method (horiz: scale =

2 ms=div and vert. scale = 6 A=div).

Fig. 14.

Source currents using the notch lter method (horiz. scale

frame methods in the presence of voltage harmonic distortion and imbalance, the limitations of the notch lter method to compensate for the negative sequence of the fundamental harmonic and the acceptable behavior under steady-state conditions of the stationary reference frame method. V. CONCLUSION In this paper, the errors associated with the steady-state response of different methods for computing the APF reference current are analyzed. Unlike similar studies that can be found in the specialized literature, the analysis is carried out in the Park domain using a frequency formulation. This gives rise to some

benets which can not be achieved in the time domain, namely: a) it is possible to deal with voltage and load imbalance, because the positive and negative sequences corresponding to a single harmonic are treated as separate harmonics, b) qualitative information on how the errors originate, and c) for those methods using voltage information, a priori knowledge of the harmonics where the errors are centered as a function of the harmonics contained in the voltage waveform. Once the frequency-domain model for each method is developed, a comparison is performed among them in terms of the frequency spectrum of the resulting error. Results obtained on a test case indicate the relatively high dependence of both the instantaneous and the synchronous reference frame methods upon the load voltage distortion and

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APPENDIX B ANALYSIS OF ERROR ON THE SYNCHRONOUS - METHOD This appendix briey presents the mathematical solution of the integrals appearing in the computation of the error related to the synchronous reference frame methods. Basically, the harmonic error and the dc term of the current in the synchronous reference frame, , depend on an integral with similar structure. Therefore, the mathematical proof will be elaborated for the computation of , the conclusions being valid for . Thus, the integral to solve is

(40) . The problem of this integral lies in the arwhere gument of the exponential function containing sinusoidal functions which depend on the integrating variable . A simplication can be done by applying the JacobiAnger expansion
Fig. 15. Source currents using the stationary reference frame method (horiz. scale = 2 ms=div and vert. scale = 6 A=div).

(41) imbalance, the impossibility for the notch lter method to compensate for the fundamental negative sequence and the rather good behavior of the stationary reference frame method. Finally, some experimental results, including error current harmonics and ideal source currents provided by each method, are presented to validate the developed frequency-domain analysis in a real-time environment. APPENDIX A ANALYSIS OF ERROR ON THE INSTANTANEOUS - METHOD This appendix presents a short description on how the integral (13) is solved, a more detailed report being provided in [18]. First of all, the change of variable is performed, leading to an integral along the complex unit circle (37) (43) Next, for normalization purposes, it is convenient to multiply the denominator and numerator of (37) by , being the maximum absolute value of the negative exponents of the denominator polynomial. This way, all exponents of become positive values (38) The resulting integral can be solved by means of the residue theorem [17], [18]. Basically, equals a sum of the residues associated to the poles of the function contained inside the unit circle of the complex plane (39) (44) where The previous reasoning can be extended in this case as . In case of a load voltage containing two harmonics the error can be formulated as and , (42) Note that this integral is nonzero only when the term of the argument of the exponential function depending on the integrating variable is zero. Hence, the error is formulated as

where is the Bessel function of rst kind and order . With this substitution, the argument of the exponential function is completely linear, but a number of products of sums involving innite terms appear. For illustration purposes an inductive method is applied. Thus, in case of one voltage harmonic

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where in the presence of formulated as

. As a consequence, voltage harmonics, the error can be

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where . The following two implementation issues provide a considerable reduction in the computational effort. 1) The indexes of the above sums extend into the interval , ). However, it can be shown that this interval ( can be reduced in practice to [ , 3] without losing accuracy, due to the high attenuation of the Bessel function of rst kind with orders greater than these and arguments below one. It is possible to group voltage terms in the argument of the exponential function of the integrals to be solved, because positive and negative sequences have opposite harmonic indexes. For instance, in case of voltage harand the exponent of (40) is as follows: monics

2)

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[11] Y. Sato, T. Ishizuka, K. Nezu, and T. Kataoka, A new control strategy for voltage-type PWM rectiers to realize zero steady-state control error in input current, IEEE Trans. Ind. Applicat., vol. 34, no. 3, pp. 480486, May/Jun. 1998. [12] X. Yuan, J. Allmeling, W. Merk, and H. Stemmler, Stationary frame generalized integrators for current control of active power lters with zero steady state error for current harmonics of concern under unbalanced and distorted operation conditions, in Proc. IEEE Industry Applications Soc. Annu. Meeting, vol. 4, 2000, pp. 21432150. [13] M. A. Perales, J. L. Mora, J. M. Carrasco, and L. G. Franquelo, A novel control method for active lters based on ltered current, in Proc. IEEE Power Electronics Specialists Conf., vol. 3, 2001, pp. 14081413. [14] M. J. Newman, D. N. Zmood, and D. G. Holmes, Stationary frame harmonic reference generation for active lters, IEEE Trans. Ind. Applicat., vol. 38, no. 6, pp. 15911599, Nov./Dec. 2002. [15] C. L. Chen, C. E. Lin, and C. L. Huang, The reference active source current for active power lter in an unbalanced three-phase power system via the synchronous detection method, in Proc. IEEE PESC94 Conf., 1994, pp. 14511455. [16] A. Ferrero and G. Superti-Furga, A new approach to the denition of power components in three-phase systems under nonsinusoidal conditions, IEEE Trans. Instrum. Meas., vol. 40, no. 3, pp. 568577, Jun. 1991. [17] R. V. Churchill and J. W. Brown, Complex Variables and Applications. New York: McGraw-Hill, 1995. [18] J. M. Maza, M. Burgos, and C. Izquierdo, Reference current errors of instantaneous pq -based methods for active lters, in Proc. IEEE IECON02 Conf., 2002, pp. 721726. [19] V. Kaura and V. Blasko, Operation of a phase locked loop system under distorted utility conditions, IEEE Trans. Ind. Applicat., vol. 33, no. 1, pp. 5863, Jan./Feb. 1997. [20] S.-K. Chung, Phase-locked loop for grid-connected three-phase power conversion systems, Proc. Inst. Elect. Eng., vol. 47, no. 3, pp. 213219, May 2000.

REFERENCES
[1] B. Singh, K. Al-Haddad, and A. Chandra, A review of active lters for power quality improvement, IEEE Trans. Ind. Electron., vol. 46, no. 5, pp. 960971, Oct. 1999. [2] S. Buso, L. Malesani, and P. Mattavelli, Comparison of current control techniques for active lter applications, IEEE Trans. Ind. Electron., vol. 45, no. 5, pp. 722729, Oct. 1998. [3] W. le Roux and J. D. van Wyk, The effect of signal measurement and proccesing delay on the compensation of harmonics by PWM converters, IEEE Trans. Ind. Electron., vol. 47, no. 2, pp. 297304, Apr. 2000. , Modeling of distortion compensation ineffectivity in lter for [4] nonactive power, IEEE Trans. Ind. Electron., vol. 48, no. 1, pp. 9197, Feb. 2001. [5] S. D. Round and D. M. E. Ingram, An evaluation of techniques for determining active lter compensating currents in unbalanced systems, in Proc. EPE97 Conf., 1997, pp. 4.7674.772. [6] H. Akagi, Y. Kanazawa, and A. Nabae, Instantaneous reactive power compensators comprising switching devices without energy storage components, IEEE Trans. Ind. Applicat., vol. IA-20, no. 3, pp. 625630, May/Jun. 1984. [7] H. Akagi, Y. Tsukamoto, and A. Nabae, Analysis and design of an active power lter using quad-series voltage source PWM converters, IEEE Trans. Ind. Applicat., vol. 26, no. 1, pp. 9398, Jan./Feb. 1990. [8] S. Bhattacharya, D. M. Divan, and B. B. Banarjee, Control, reduction of terminal voltage harmonic distortion (THD) in a hybrid series active, parallel passive lter system, in Proc. IEEE PESC93 Conf., 1993, pp. 779786. [9] V. Soares, P. Verdhelo, and G. D. Marques, An instantaneous active and reactive current component method for active lters, IEEE Trans. Power Electron., vol. 15, no. 4, pp. 660669, Jul. 2000. [10] M. Rastogi, N. Mohan, and A. A. Edris, Filtering of harmonic currents, damping of resonances in power systems with a hybrid-active lter, in Proc. IEEE APEC95 Conf., 1995, pp. 607612.

Jos Mara Maza Ortega was born in Spain. He received the M.S. degree in electrical engineering and the Ph.D. degree in engineering from the University of Seville, Seville, Spain, in 1996 and 2001, respectively. Since 1997, he has been with the Department of Electrical Engineering, University of Seville, where he is currently a Lecturer. His primary areas of interest are power quality, harmonics, passive and active lters, drives, and energy savings.

Manuel Perales Esteve received the M.S. degree in electrical engineering and the Ph.D. degree in engineering from the University of Seville, Seville, Spain, in 1995 and 2002, respectively. He joined the Department of Electronic Engineering, University of Seville, in 1996 as a Researcher, where he is currently an Assistant Professor since 1998. His current research areas are active power lters, modulation techniques, power systems, and digital controllers for power systems.

Manuel Burgos Payn was born in Spain. He received the M.S. degree in electrical engineering and the Ph.D. degree in engineering from the University of Seville, Seville, Spain. Since 1983, he has been with the Department of Electrical Engineering, University of Seville, where he is currently an Associate Professor. His primary areas of interest are electrical machines and drives, power quality, and energy savings.

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IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 20, NO. 2, MARCH 2005

Antonio Gmez Expsito (F02) was born in Spain. He received the M.S. degree in electrical engineering and the Ph.D. degree in engineering from the University of Sevilla, Sevilla, Spain. Since 1982, he has been with the Department of Electrical Engineering, University of Sevilla, where he is currently a Professor and Head of the Department. His primary areas of interest are power system optimization, state estimation, and computer relaying.

Leopoldo Garca Franquelo (F04) received the M.S. degree in electrical engineering and the Ph.D. degree in engineering from the University of Sevilla, Sevilla, Spain. He is a Professor and Head of the Department of Electronic Engineering, University of Sevilla. His current research areas include power electronic applications to power quality, high power electronic systems, and connection of renewable power sources to the power systems.