International Journal of Advanced Robotic Systems

Feedback Linearization Control

of a Shunt Active Power Filter
Using a Fuzzy Controller

Regular Paper



Tianhua Li
1
and Juntao Fei
1,*


1 Jiangsu Key Laboratory of Power Transmission and Distribution Equipment Technology,
College of Computer and Information, Hohai University, Changzhou, P. R. China
* Corresponding author E-mail: jtfei@yahoo.com

Received 12 Sep 2012; Accepted 26 Jun 2013

DOI: 10.5772/56787

2013 Li and Fei; licensee InTech. This is an open access article distributed under the terms of the Creative
Commons Attribution License (http://creativecommons.org/licenses/by/3.0), which permits unrestricted use,
distribution, and reproduction in any medium, provided the original work is properly cited.


Abstract In this paper, a novel feedback linearization
based sliding mode controlled parallel active power filter
using a fuzzy controller is presented in a three-phase
three-wire grid. A feedback linearization control with
fuzzy parameter self-tuning is used to implement the DC
side voltage regulation while a novel integral sliding
mode controller is applied to reduce the total harmonic
distortion of the supply current. Since traditional unit
synchronous sinusoidal signal calculation methods are
not applicable when the supply voltage contains
harmonics, a novel unit synchronous sinusoidal signal
computing method based on synchronous frame
transforming theory is presented to overcome this
disadvantage. The simulation results verify that the DC
side voltage is very stable for the given value and
responds quickly to the external disturbance. A
comparison is also made to show the advantages of the
novel unit sinusoidal signal calculating method and the
super harmonic treatment property of the designed active
power filter.

Keywords Active Power Filter, Feedback Linearization
Technique, Sliding Mode Control, Fuzzy Control
1. Introduction
With the rapid development of the power electronics
technology, more and more nonlinear and time-
varying devices, such as inverters, rectifiers and
switching power supplies, are used in grid generating
power quality problems. A shunt active power filter
(SAPF) is an effective device for implementing the
harmonic current in the grid and is attracting
increasing attention in modern society. Saetieo et al.
[1]
designed a three-phase, three-line parallel active
power filter, establishing the basic structure of an
active filter. Researchers have studied the control
theory and the application technique of APF from
different aspects and made numerous achievements.
Singh et al.
[2]
proposed a three-phase three-wire
parallel active power filter and compare the harmonic
compensation effect of the direct and indirect current
control techniques. Stanciu et al.
[3]
and Fei et al.
[4]
investigated novel sliding mode controllers separately
to implement reference current tracking control and
reduce the total harmonic distortion (THD).
1 Tianhua Li and Juntao Fei: Feedback Linearization Control
of a Shunt Active Power Filter Using a Fuzzy Controller
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Int. j. adv. robot. syst., 2013, Vol. 10, 332:2013


The control method can be calculated based on another
type of modelling, such as the state space representation
in the (d, q) reference frame, which allows the use of a
feedback linearization control technique and the
development of an adaptive control. Feedback
linearization control is an effective method for
establishing the model of an active power filter.
Mendalek

et al.
[5-6]
proposed an exact feedback
linearization control for both loops and used the pole
placement strategy to synthesize the closed loop error
dynamics of current tracking and DC bus voltage
regulation. Matas et al.
[7]
implemented a feedback
linearization based sliding mode control method and
demonstrated the superior harmonic compensation
capability of the proposed active power filter. In the
actual power system, the supply voltage may contain
harmonics and the parameters of the system model may
be different from the actual value. Adaptive control
approaches have been successfully applied in the active
power filter. Shyu et al.
[8]
presented a novel model
reference adaptive control (MRAC) and designed a
single-phase active power filter to improve the line power
factor and reduce line current harmonics. Ribeiro

et al.
[9]

presented a robust adaptive control strategy for power
factor correction, harmonic compensation and the
balancing of nonlinear loads in APFs. Lee et al.
[10]

discussed the DC bus voltage control of three-phase
AC/DC PWM converters using feedback linearization,
while Tan

et al.
[11]
proposed adaptive feedforward and
feedback control schemes for sliding mode controlled
power converters. Other harmonic suppression
approaches have been investigated in the literature
[12-15]
.
Fuzzy control is very robust and capable of handling
nonlinear systems. Fei et al.
[17]
designed a direct adaptive
fuzzy control using a supervisory compensator to
implement the robust tracking of the MEMS gyroscope
sensor. Ha et al.
[18]
proposed a novel tuning fuzzy vector
field orientation feedback control method for a four track
wheel, skid-steered mobile robot using flexible fuzzy
logic control. As the model of the active power filter is
nonlinear, fuzzy control is highly suitable for use in the
control of an active power filter. Tsengenes et al.
[19]

designed a fuzzy logic algorithm for tuning PI controllers
and improving the performance of a shunt active power
filter under non-ideal grid voltages. Colak et al.
[15]

designed a single phase shunt active power filter and
implemented the regulation of the DC side voltage using
a fuzzy logic controller.

In this paper, the input-output feedback linearization is
applied to implement the DC side voltage regulation in
an indirect current-controlled active power filter, and a
fuzzy parameter self-tuning method is designed to adjust
the parameters of the feedback control law according to
the error of the voltage regulation. Moreover, a novel
sliding mode controller is incorporated into the reference
current tracking control. The contribution of this paper
can be summarized as follows:
1. A novel sliding mode control is proposed for reference
currents tracking to reduce the error. The designed
APF has superior harmonic eliminating performance
and minimizes the harmonics for a wide range of
variations of load currents, and therefore an improved
THD performance can be achieved.
2. A fuzzy parameter self-tuning feedback
linearization control method is presented to
implement the indirect current control of a three-
phase three-wire active power filter. The parameters
of the feedback control law involve tuning
according to the error between the DC side voltage
and its reference value.
3. A novel unit signals calculating method is developed
to implement the supply reference currents
evaluation when the grid voltage contains
harmonics. Thus, the designed active power filter
could be used in a complex grid environment.

The paper is organized as follows. In section 2, a
mathematical model of APF is derived from the principle
of the average power balance. In section 3, the designed
fuzzy parameter self-tuning feedback linearization
control technique is presented and a novel integral
sliding mode control is described as well. Detailed
simulations and a comparison are reported in section 4. In
section 5, the conclusion is presented.
2. Mathematical Model of the Active Power Filter
Suppose the supply voltage is
sp sp sp
(V cos(wt), V cos(wt 2 / 3), V cos(wt 4 / 3)) ,
and define
ca cb cc
(R ,R , R ) and
ca cb cc
(L ,L , L ) as resistances
and inductances in compensation circuits. The DC side
capacitor is named
dc
C and its voltage is
dc
V . The supply
currents, load currents and compensating currents are
defined as
Sa Sb Sc
(i ,i ,i ) ,
La Lb Lc
(i ,i , i ) and
ca cb cc
(i , i , i )
separately. As such, the schematic block diagram of the
designed shunt active power filter is shown as in Figure 1.

The transformation formula from the abc frame to the dq
frame is given as (2.2)
[5]
. For the three-phase sinusoidal
signals, the component in phase abc is a constant while
the quadrature component is zero. Thus, in order to
compensate the harmonic in the load currents and make
the sinusoidal supply currents, compensating currents
should eliminate the quadrature component of the load
currents. That is:

cq Lq
jI jI =

(2.1)

d a
q b
I I cos( / 6) sin
2
I I sin( / 6) cos



=


(2.2)
2 Int. j. adv. robot. syst., 2013, Vol. 10, 332:2013 www.intechopen.com


}
Sareef
i
Sbreef
i
Screef
i
, , a b c S S S
Gating Signals
, ,
La Lb Lc
I I I
Ld
I Lq
I cq I
1
x
dc
V
dcref
V
cos( ) wt
cos( 2 / 3) wt
cos( 4 / 3) wt
Sa V
Sb
V
Sc
V
, , ca cb cc I I I
, , cona conb conc V V V
1
k
e d i
S k e k e k e

= + +
}
2
k
dc
e

Figure 1. Overall diagram of the proposed SAPF system
The principle of average power balance is used to
determine the approximate model of the compensator.
The mathematical model is derived based on the
following assumptions.

1. The supply voltages are balanced and contain small
harmonics, such that the quadrature component of
the supply voltage can be ignored.
2. Only the fundamental components of the currents
are considered, as the harmonic components do not
affect the average power balance expressions.
3. The supply impedance has been ignored, and all
losses of the system are lumped and represented by
an equivalent resistance
c
R .
4. IGBT is an ideal switch inverter.

The load current in the dq frame can be described as
L Ld Lq
I I jI = + , while the compensating current in the dq
frame is
c cd cq
I I jI = + . According to formula (2.1), the
supply current is:

S Ld Lq cd cq Ld cd
I I jI I jI I I = + + + = + (2.3)
As shown in figure 1, the voltage at the SAPF connection
points is equal to the supply voltage. That is:

a Sp
b Sp
c Sp
v V cos(wt)
v V cos(wt 2 / 3)
v V cos(wt 4 / 3)

(2.4)
By synchronous frame transforming, formula (2.5) can be
derived:

comd Sp
comq
3
v V
2
v 0

(2.5)
The compensator power is:

com comd cd comq cq comd cd
P v I v I v I = + = (2.6)
If, for a particular operating point,
cq
I is constant, then
the inductance power is:

2
L c cd
d 1
P n L I
dt 2
(
=
(

n 3 = (2.7)
The power loss in the resistor is given by formula (2.8):

2 2
R c cd cq
P nR (I I ) = + n 3 = (2.8)
The capacitor average power is:

dc
C dc dc
dV
P C V
dt
= (2.9)
where
dc
V is the instantaneous DC side voltage.

According to the power balance principle of the
compensator, the following equation can be established:

2 2 2 dc
comd cd c cd cq c cd dc dc
dV d 1
v I nR (I I ) n L I C V
dt 2 dt
(
+ =
(

(2.10)
Then, the mathematical model of the active power filter
can be derived:
2 2 2 S
cond S Ld c S S Ld Ld cq c S Ld
dI
v (I I ) nR I 2I I I I nL (I I )
dt
(
+ +



Ld dc
c S Ld dc dc
dI dV
nL (I I ) C V
dt dt
+ = (2.11)
3. Fuzzy Parameter Self-tuning Feedback Linearization
Control with a Novel Sliding Mode Control Method.
3.1 Feedback Linearization Control
Defining two state variables
1 S
2 dc
x I
x V
=

and
1
dx
u
dt
= as
input, then the mathematical model according to (2.3) can
be written as:
2 2 2 Ld
cond 1 Ld c 1 Ld 1 Ld cq c 1 Ld
dc 2
0
dI
x
v (x I ) nR (2x I x I I ) nL (x I )
dt
C x

(
(
(
= +
( + +
(
(


c Ld 1
dc 2
1
u nL (I x )
C x
(
(

(
(



2
y x = (3.1)
The former system is a single input single output (SISO)
system. It can be described as:

x f(x) g(x)u
y h(x)

= +

(3.2)
3 Tianhua Li and Juntao Fei: Feedback Linearization Control
of a Shunt Active Power Filter Using a Fuzzy Controller
www.intechopen.com


where the state variables are
2
x R ,
2 2
f(x),g(x) : R R ,
2 2
h(x) : R R , and f(0) 0 = and h(0) 0 = . Then:

1 1
h h h
y x f(x) g(x)u f (x) g (x)u
x x x


= = + = +

(3.3)
We design a feedback linearization control law:

1
1
R f (x)
u
g (x)

= (3.4)
Eq. (3.3) can be linearized as:
y R

= (3.5)
Supposing a position reference signal as
d
y (t) , and
defining:

d 1 d 2 d
R y k (y y ) k (y y )dt

, (3.6)
where
1
k 0 > and
2
k 0 > . Then, the Eq. (3.6) can be
changed into:

1 2
e k e k e 0

+ + =

, where
d
e y y = (3.7)
The former formula (3.7) is the error dynamic equation
and e(t) will exponentially converge on zero. If
e(0) e(0) 0

= = , e(t) will be always zero when t 0 .

For the shunt active power filter, the reference value of
the DC side voltage is constant, so:

d
y 0

= and
1 dc dcref 2 dc dcref
R k (V V ) k (V V ) =

(3.8)
We can deduce the feedback linearization control law as
(3.9):
2 2 2 Ld
cond 1 Ld c 1 Ld 1 Ld cq c 1 Ld
c 1 Ld
dI
v (x I ) nR (2x I x I I ) nL (x I )
dt
u
nL (x I )
+
=

dc 2 1 dcref dc 2 dcref dc
c 1 Ld
C x [k (V V ) k (V V )dt]
nL (x I )
+

(3.9)

By integrating the control law
1
dx
u
dt
= , the amplitude of
the supply reference currents
*
sp
I can be derived and
applied to calculate the reference supply currents of the
indirect current control method.
3.2 The Fuzzy Parameter Self-tuning Method
The feedback linearization control method implements an
exact feedback control law. However, changes in the
nonlinear load and system parameters in an actual power
grid usually reduce the precision of the control and affect
the harmonic compensating performance of the active
power filter. A fuzzy parameter self-tuning method is
applied to adjust the parameters of the feedback
linearization control law.

The feedback linearization control method is used to
implement the regulation of voltage in the DC side. The
fuzzy parameter self-tuning method is designed to adjust
the parameters of the feedback control law
1
k and
2
k ,
according to the control error of the DC side voltage.

Define e as the control error of the DC side voltage and
c
e
as its velocity error. Choose the fuzzy set as {NL, NM, NS,
ZO, PS, PM, PL}. The parameters of the feedback control
law must be a positive number, so the fuzzy set of the
output is defined as {S, L}. The fuzzy inference engine
uses the fuzzy IF-THEN rules to perform the mapping.
The fuzzy rule can be expressed as:

IF e is
1
A and
c
e is
2
A , THEN
1
k is
1
y and
2
k is
2
y .

The schematic block diagram of the fuzzy parameter self-
tuning controller is shown in Figure 2 and the rule of the
fuzzy parameter self-tuning control is described in Table
1.
d e
d t
e
c
e
1
k
2
k
u
dc
V
ref
V

Figure 2. Schematic block diagram of the fuzzy parameter self-
tuning controller
c
e
e
NL NM NS ZO PS PM PL
NL L/L L/L L/L L/L L/L L/L L/L
NM S/L L/L L/S L/S L/S L/L S/L
NS S/L S/L L/L L/S L/L S/L S/L
ZO S/L S/L S/L L/S S/L S/L S/L
PS S/L S/L L/L L/S L/L S/L S/L
PM S/L S/L L/L L/S L/L S/L S/L
PL S/L L/L L/S L/S L/S L/L S/L
Table 1. Table of fuzzy rules
3.3 Integral Position Tracking Sliding Mode Control
A novel sliding mode control method is proposed to
reduce the THD of the supply currents and steady-state
errors. In this paper, the integral sliding mode controller
is applied to implement the inner reference current
tracking control. The new sliding surface is proposed as
(3.10):

e d i
S k e k e k e

= + +

(3.10)
4 Int. j. adv. robot. syst., 2013, Vol. 10, 332:2013 www.intechopen.com


pb b db b ib b
s k e k e k e

= + +

pc c dc c ic c
s k e k e k e

= + +

pa a da a ia a
s k e k e k e

= + +

*
Sa
I
Sa
I
*
Sb
I
Sb
I
*
Sc
I
Sc
I
Pulse Width
Modulation
Gating
Signals

Figure 3. Schematic block diagram of the integral sliding mode
control
The voltage across the capacity is stabilized at 400V by
feedback linearization control. The relationship between
the input voltage of the active power filter and the
designed switching function is shown as in (3.11), such
that the voltages of a', b', c'

obtained are constant [5]. The
schematic diagram of the sliding mode controller is
shown in Figure 3. The sliding mode control with a
switch function is proposed as in (3.11):
i ' i dc i
u K u sgn(S ) =
i
K is
1
3
or
2
3

, i' a', b', c' = ,
i a, b, c = (3.11)
3.4 Calculation Method for the Reference Currents
The reference supply currents are produced by
multiplying the amplitude signal
*
sp
I

and the unit
synchronized sinusoidal signals. However, in the actual
grid the unit sinusoidal signals produced by a phase-
locked loop (PLL) may appear as a wave distortion when
the voltage contains harmonics. In this paper, a novel unit
sinusoidal signal calculation method is presented.
2/ 3
~
Sp V
1/ f u =
~
1/ Sp V
Sa
V
Sb
V
Sc
V
cos( ) wt
cos( 2 / 3) wt
cos( 4 / 3) wt
Sa
V
Sb
V
Sd
V
*
Sp
I
*
Sp
I
*
Sp
I
Saref
I
Sbref
I
Scref
I

Figure 4. Schematic block diagram of the designed reference
currents calculation method
The schematic block diagram of the novel unit synchronized
sinusoidal signals calculation method is shown in Figure 4.
The amplitude of the supply voltage is evaluated by
synchronous frame transforming theory and the three-phase
supply voltages are divided by the amplitude to calculate
the unit supply voltage signals. Next, the PLL is applied to
produce the unit synchronized sinusoidal signals
(cos(wt),cos(wt 2 / 3),cos(wt 4 / 3) . We multiply
the amplitude and unit sinusoidal signals to produce
the reference supply currents applied in the sliding
mode controller.
4. Simulation Study
In this section, the active power filter system is implemented
by a realistic model using the SimPowerSystem blockset of
MATLAB. The nonlinear load consists of a three-phase
universal bridge and a series RL branch. The components
and parameters are listed in Table 2. In the actual power
system, the supply voltage may contain harmonics.
According to the electromagnetic compatibility (EMC)
standards IEC-61000, the THD of the supply voltage
should be under 5% in the low-voltage grid (1kV). The
simulation study is implemented and a comparison is
made between the unit sinusoidal signals calculation by
PLL and the designed method.

Supposing the supply voltage contains 20
th
and 50
th

harmonics, the THD of supply voltage is 8.91% given
harmonic analysis. As unit sinusoidal signals derived by
the traditional sinusoidal signals calculation method
appear distorted and cannot be used to calculate the
supply reference currents, the novel method based on
synchronous frame transforming theory is applied. The
wave of the unit sinusoidal signals calculated by the
designed method is shown in Figure 5.

Supply Voltage (Amplitude & Frequency) 220V 50HZ
Harmonic of Supply Voltage (Orders &
Amplitude)
20
th
8
50
th
4
Inductance & Resistance in Nonlinear Load 1 2e-3H 5
Inductance & Resistance in Nonlinear Load 2 2e-3H 20
Inductance & Resistance in the Compensator 3.3e-4H 0.05
DC side Capacitor 5e-3F
Reference Value of the DC Side Voltage 400V
Parameter of Feedback Linearization Control 1
Parameters of the Sliding Mode Controller 1, 9.1e-7, 6e-2
Table 2. Components and parameters
Obviously, in actual power systems the nonlinear loads
change with any change of user. Thus, the simulation is
carried out with mutative loads. An extra nonlinear load
is connected into the system at simulation time t=0.2s and
cut off at t=0.4s so as to analyse the robustness to the load
disturbance.

The simulation comparisons among feedback
linearization-controlled APF, feedback linearization
sliding mode-controlled APF and the fuzzy parameter
self-tuning feedback linearization sliding mode-
controlled APF are presented in Table 3. The THD of the
load currents when t=0.1s, 0.3s and 0.5s are, respectively,
21.87%, 20.51% and 21.87%. Feedback linearization
indirect current-controlled APF with the hysteresis
comparison controller, the sliding mode controller and
the fuzzy parameter self-tuning controller are each
formed with the same components and parameters. The
simulation results reveal that the THD of the supply
currents is reduced to 3.81%, 3.79% and 3.53% by
feedback linearization indirect current-controlled APF
with the hysteresis comparison controller. This is
decreased to 3.18%, 3.46% and 3.26% after the designed
sliding mode controller is applied to the system. The
5 Tianhua Li and Juntao Fei: Feedback Linearization Control
of a Shunt Active Power Filter Using a Fuzzy Controller
www.intechopen.com


THD of supply current following compensation by the
feedback linearization sliding mode-controlled APF with
the designed fuzzy controller is 3.22%, 3.47% and 3.25%,
respectively, and the overshoot of the DC side voltage is
reduced from 42% to 38.4%, as shown in Figure 9 and
Figure 10. The harmonic analysis of the supply current is
shown in Figures 11-19.

The static and dynamic performances of the designed
fuzzy parameter self-tuning feedback linearization sliding
mode-controlled APF are described in Figures 6-8. Figure 6
shows the evaluated value of the amplitude signal
*
Sp
I used
to calculate the reference supply currents. The amplitude
signal is equal with the amplitude of load currents by a
short-time adjustment. The waves of the load currents and
the supply currents are shown in Figure 7. The reference
current tracking error, which is shown in Figure 8, will
become a little bigger when the load current increases. The
DC side voltage, shown in Figure 10, is regulated by the
feedback linearization control theory, which presents good
dynamic and static characteristics. When load change
happens, the voltage converges on the given value with a
short-time adjustment.

Time
Feedback
linearization
hysteresis
comparison-
controlled APF
Feedback
linearization
sliding mode-
controlled APF
Feedback
linearization sliding
mode-controlled
APF with fuzzy
controller
0.1s 3.81% 3.18% 3.22%
0.3s 3.79% 3.46% 3.47%
0.5s 3.53% 3.26% 3.25%
Table 3. Comparison of compensation effects

Figure 5. Wave of the unit sinusoidal signals calculated by the
designed method

Figure 6. Amplitude of the reference supply current

Figure 7. Enlarged view of the load current and supply current
during A-phase

Figure 8. Reference current tacking error during A-phase

Figure 9. Voltage of the DC side capacity with feedback
linearization sliding mode control

Figure 10. Voltage of the DC side capacity with fuzzy feedback
linearization sliding mode control

Figure 11. t=0.1s, THD of the supply current compensated by
feedback linearization-controlled APF
-1
-0.5
0
0.5
1
-1
-0.5
0
0.5
1
0 0.1 0.2 0.3 0.4 0.5 0.6
-1
-0.5
0
0.5
1
0 0.1 0.2 0.3 0.4 0.5 0.6
-100
-50
0
50
100
150
200
250
300
time
Isp*
-100
-50
0
50
100
0 0.1 0.2 0.3 0.4 0.5 0.6
-100
-50
0
50
100
time
iLa
iSa
0 0.1 0.2 0.3 0.4 0.5 0.6
-20
-15
-10
-5
0
5
10
15
20
time
e
0 0.1 0.2 0.3 0.4 0.5 0.6
0
100
200
300
400
500
600
Vdc
time
0 0.1 0.2 0.3 0.4 0.5 0.6
0
100
200
300
400
500
600
time
Vdc
6 Int. j. adv. robot. syst., 2013, Vol. 10, 332:2013 www.intechopen.com



Figure 12. t=0.3s, THD of the supply current compensated by
feedback linearization-controlled APF

Figure 13. t=0.5s, THD of the supply current compensated by
feedback linearization-controlled APF

Figure 14. t=0.1s, THD of the supply current compensated by
feedback linearization SMC APF

Figure 15. t=0.3s, THD of the supply current compensated by
feedback linearization SMC APF

Figure 16. t=0.5s, THD of the supply current compensated by
feedback linearization SMC APF

Figure 17. t=0.1s, THD of the supply current compensated by
fuzzy feedback linearization SMC APF

Figure 18. t=0.3s, THD of the supply current compensated by
fuzzy feedback linearization SMC APF

Figure 19. t=0.5s, THD of the supply current compensated by
fuzzy feedback linearization SMC APF
5. Conclusion
In this paper, a fuzzy parameter self-tuning feedback
linearization control has been applied to implement the
DC side voltage regulation in an indirect current-
controlled active power filter. A novel sliding mode
controller has also been designed and applied in the
reference current tracking control. In the actual power
system, the supply voltage may contain harmonics, which
limits the application of the APF. A novel unit
synchronous sinusoidal signals calculation method based
upon synchronous frame transforming theory is
designed. The simulation results verify that the
sinusoidal signals calculation method can produce ideal
synchronous sinusoidal signals, even when THD of the
supply voltage is high. The fuzzy parameter self-tuning
feedback linearization control method can reduce the
overshoot of the DC side voltage regulation and the
designed sliding mode controller can reduce the THD of
the supply currents dramatically. A modelling approach
of APF based on feedback linearization theory can be
applied to develop an adaptive sliding mode control or
the intelligent control of an APF system.
7 Tianhua Li and Juntao Fei: Feedback Linearization Control
of a Shunt Active Power Filter Using a Fuzzy Controller
www.intechopen.com


6. Acknowledgments
This work is supported by the National Science
Foundation of China under Grant No. 61374100 and the
Fundamental Research Funds for the Central Universities
under Grant No. 2612012B06714.
7. References
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