ACSS For Paralleled Multi-Inverter Systems With DSP-Based Robust Controls

ACSS for Paralleled
Multi-Inverter Systems with

DSP-Based Robust Controls
YU-KAI CHEN, Member, IEEE
National Huwei Institute of Technology
Taiwan
YU-EN WU
TSAI-FU WU, Senior Member, IEEE
CHUNG-PING KU
National Chung Cheng University
Taiwan
An averaged current-sharing strategy (ACSS) for paralleled
multi-inverter systems with digital signal processor (DSP)-based
robust controls is presented. With an ACSS, the inverters are
in parallel operation and each inverter has a voltage robust
controller to achieve system stability and robustness, and a
current robust controller to track the averaged inductor current
of the inverters to achieve equal current distribution. In the
proposed system, the current-sharing control loop is independent
of the voltage control loop. Therefore, equal current distribution
among the inverters, fast response, and tight regulation can be
achieved. Additionally, the ACSS in each inverter can be readily
implemented with two operational amplifiers. Simulation results
and hardware measurements of a single-inverter system and a
two-inverter system, and simulation results of a three-inverter
system with linear and nonlinear loads have demonstrated the
feasibility of the proposed control scheme in equal current
distribution and fast regulation.
Manuscript received August 6, 2002; revised February 10, 2003;
released for publication March 31, 2003.
IEEE Log No. T-AES/39/3/818506.
Refereeing of this contribution was handled by W. M. Polivka.
This work was supported by the National Science Council, Taiwan,
under Project NSC 89-2213-E-270-027.
Authors current addresses: Y-K. Chen, Dept. of Aeronautical
Engineering, National Huwei Institute of Technology, 64 Wenhwa
Road, Huwei Jen, Yunlin, Taiwan, 632 ROC; Y-E. Wu, Dept.
of Electrical Engineering, Wu-Feng Institute of Technology,
Ming-Hsiung, Chia-Yi, Taiwan, ROC; T-F. Wu, Power Electronics
Applied Research Laboratory (PEARL), Dept. of Electrical
Engineering, National Chung Cheng University, Ming-Hsiung,
Chia-Yi, Taiwan, ROC, E-mail: (tfwu@ee.ccu.edu.tw); C-P. Ku,
Industrial Technology Research Institute, Taiwan, ROC.
0018-9251/03/$17.00 c _ 2003 IEEE
I. INTRODUCTION
In recent years, sinusoidal pulsewidth modulated
(SPWM) inverters have found their wide applications
in various types of ac power conditioning systems,
such as automatic voltage regulators (AVR),
uninterruptible power supplies (UPS), active power
filters (APF), etc. Parallel operation of inverters to
obtain a larger power capacity and to improve system
reliability becomes the trend of power system design.
Two or more inverters operating in parallel must
achieve the following features:
1) same amplitude, frequency and phase among
the output voltages of inverters,
2) proper current distribution among inverters
according to their capacities,
3) flexibility in paralleling any number of
inverters, and
4) hot-swap feature at any operating time.
To achieve the above features, there were several
types of control strategies proposed in literature
[111]. In [1], phase-locked loop (PLL) control
technique was used to synchronize the output voltage
of inverters. One of the most common methods
for load current-sharing control is instantaneous
modulation control, such as the master-slave control
(MSC) and the highest current control (HCC) [6, 11].
In a system with the MSC [6], the master module is
responsible for output voltage regulation, while the
slave ones track the current command provided by
the master to achieve an equal current distribution.
In such a system, if the master module fails, the
system will shut down. This is a major drawback. In
[11], the proposed instantaneous voltage and current
controller for the paralleled inverters with an HCC
can quickly eliminate the current deviation and can
achieve power balance among inverters. However,
since the sensed highest output current would be
noisy, the performance of current distribution and
output voltage regulation will be deteriorated. In
addition, the paralleled inverters with nonidentical
component characteristics and input voltage variation
will affect the models of the inverters and might also
deteriorate in system performance. Therefore, robust
controllers are adopted to achieve the robustness of
the proposed paralleled multi-inverter system.
In this paper, a voltage H
robust controller is
adopted to reduce the prementioned effects and to
achieve the system stability and robustness; thus, the
output voltage can be well regulated. In addition, an
averaged current-sharing strategy (ACSS) is used
to replace the HCC proposed in [11] to achieve an
equal current distribution and to reduce noise effect
occurring at inverter switching transition.
Section II presents the system configuration
of a paralleled multi-inverter system. In Section
III, analysis and design of robust controllers are
described and discussed in detail. A single-inverter
1002 IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS VOL. 39, NO. 3 JULY 2003
system, a two-inverter system, and a three-inverter
system are presented in Section IV to verify the
theoretical discussion. Brief conclusions are presented
in Section V.
II. CONFIGURATION OF PARALLELED
MULTI-INVERTER SYSTEM
A paralleled multi-inverter system with the
proposed ACSS can be conceptually illustrated by
Fig. 1(a), in which a schematic diagram of each
inverter associated with a digital signal processor
(DSP) controller and the current-sharing center are
depicted in Fig. 1(b) and (c), respectively. With the
ACSS, the inductor current of each inverter is sensed
as the input of the current-sharing center and then
the averaged current i
ave
of the paralleled n-inverter
system can be obtained. In the system, all the inverters
are with the same configuration, and each inverter,
as shown in Fig. 1(b), consists of a half-bridge
switch configuration and an L-C output filter. The
current-sharing center consists of scaling circuits and
inverted circuits which are realized with operational
amplifiers, as shown in Fig. 1(c). The averaged
current i
ave
is selected as the current command for
each inverter to achieve an equal current distribution.
The DSP controller performs digital control and
generates SPWM driving signals for switching
devices, in which a clock rate of 20 MHz and 10 bit
analog-to-digital (A/D) converters (for feeding back
inductor current and output voltage) are adopted. In
the proposed system, the voltage H
robust controller
is responsible for output voltage regulation, while the
current ones will track the current command i
ave
to
achieve an equal current distribution. The proposed
control scheme is realized with a TMS320F240 DSP
chip.
III. ANALYSIS AND DESIGN OF ROBUST
CONTROLLERS
Each inverter with the ACSS includes two
controllers: one is for output voltage loop; the other
is for current-sharing loop. The H
robust control
technique is adopted to design these controllers
for achieving equal current distribution, low output
voltage distortion, and low steady-state error. Before
performing these designs, the dynamics of the
inverters needs to be analyzed.
A. Modeling of Single-Inverter System
To design a proper controller for an SPWM
controlled inverter, the dynamics of a single-inverter
system is modeled and illustrated by a control block
diagram shown in Fig. 2, where
v
ref
is the perturbation
of a sinusoidal reference voltage,
v
o
is the perturbation
of the output voltage,
v
fb
is the perturbation of the
Fig. 1. (a) Block diagram of paralleled multi-inverter system.
(b) Circuit diagram of single-inverter system. (c) Circuit diagram
of current-sharing center for proposed ACSS.
Fig. 2. Control block diagram of single-inverter system.
feedback voltage,

i
o
is the perturbation of the output
current,

d is the perturbation of the duty cycle,
v
c
is the perturbation of control voltage, and K
v
(s) is
an output voltage-loop controller. H
v
represents the
CHEN ET AL.: ACSS FOR PARALLELED MULTI-INVERTER SYSTEMS WITH DSP-BASED ROBUST CONTROLS 1003
Fig. 3. Bode plot of control-to-output voltage transfer function under three different load conditions.
feedback gain and K
PWM
is the pulsewidth modulated
(PWM) gain of the inverter. Effective series resistance
of the capacitor and inductor are neglected. The
small-signal control-to-output voltage transfer function
(
v
o
= v
c
) of a single-inverter system then can be derived
with the Masons rule and expressed as follows:
G
V
(s) =
v
o
v
c
=
K
PWM
(L
l
s +R
l
)
[LL
l
Cs
3
+R
l
LCs
2
+(L+L
l
)s +R
l
]
(1)
where R
l
and L
l
are load resistance and inductance.
A detailed derivation of (1) is given in Appendix A.
Fig. 3 shows the plots of control-to-output voltage
transfer function versus frequency under three
different load conditions (no load, a 0.7 lagging
load, and full load). Note that as shown in Fig. 3,
the voltage loop small-signal transfer functions of
the single-inverter system are different under different
load conditions. Thus, variation of loads is treated as
an uncertainty of the proposed system. In addition,
variations of input voltage and component values
are also treated as uncertainties of the single-inverter
system in the design.
B. Design of Voltage Robust Controller
It can be observed from Fig. 3 that output
voltage-loop transfer characteristics vary with
loads, input voltages, and component values in a
single-inverter system. To reduce the effects due to
the variations, the H
robust control technique is

adopted to design an output voltage controller. A
block diagram used to illustrate the proposed H
robust control is depicted in Fig. 4, in which the

multiplicative uncertainty-plant G(s) is with three
uncertainties, including variations of component
Fig. 4. Illustration of augmented plant with robust controller
K(s).
values, load, and input voltage. The design procedure
of a robust controller is outlined as follows.
1) Augment the plant G
v
(s) (=
v
o
= v
c
) with
weighting functions W
1
(s) and W
2
(s) based on the
desired performance indices. The augmented plant
P(s) can be conceptually illustrated by Fig. 4.
Generally, weighting function W
1
(s) is a typical
low-pass filter, shaping the sensitivity function S at
low frequency to reject disturbance and to reduce
tracking errors, and Z
1
is a control variable used
to adjust the tracking errors. Weighting function
W
2
(s) is chosen to be a high-pass filter, shaping
the complementary sensitivity function T at high
frequency to minimize instability effects.
2) First consider sinusoidal inputs and suppose that
input r can be any sinusoidal signal with amplitude _1
and we want tracking error e to have amplitude <".
Then the performance specification can be expressed
succinctly as
|S|
<": (2)
That is, the maximum amplitude of error e equals
the -norm of the transfer function S. In several
applications, for example aircraft flight-control design,
designers have acquired through experience the
desired shapes for the Bode magnitude plot of S. In
particular, suppose that good performance is known
to be achieved if the plot of [S(j!)[ lies under some
curve. We can rewrite this as
[S(j!)[ <[W
1
(j!)[
1
, \ !: (3)
Or,
|W
1
S|
<1: (4)
Additionally, for the multiplicative uncertainty model
(1 +W
2
)GK, if
|W
2
T|
<1 (5)
this implies
|W
2
T|
<|W
2
T|
<1: (6)
Then, we have
1 +(1 +W
2
)GK = (1 +GK)
_
1 +W
2
GK
1 +GK
_
= (1 +GK)(1 +W
2
T) _1 +GK
(7)
that is, the perturbation W
2
does not change the
stability condition, achieving robustness. Rigorous
proof of the prementioned inequalities can be found
from [12, 13]. Next, we have to find an H
robust
controller K(s) to satisfy the following inequality:
_
_
_
_
_
W
1
S
W
2
T
__
_
_
_
_1 (8)
where S(s) = (I +G(s)K(s))
1
is the sensitivity
function and T(s) =G(s)K(s)(I +G(s)K(s))
1
is
the closed-loop transfer function of the reference
command
v
ref
to the measured output
v
o
. T(s) is also
called a complementary sensitivity function.
3) Verify if the design is close to the desired
performance indexes based on the evaluation of the
singular-value Bode plot. If it is not, we need to
go back to step 1 to select another set of weighting
functions and go through all steps again.
C. Modeling of Paralleled Current-Sharing
Multi-Inverter System
To investigate the current distribution among
inverters, a multi-inverter system is designed with the
inverters in parallel connection and each inverter has a
current robust controller to track the averaged inductor
current i
ave
to achieve an equal current distribution.
A control block diagram of the proposed system with
the ACSS is shown in Fig. 5. The control-to-inductor
current transfer function (
i
L
= v
ci
) of the inverter system
for inductive load is derived with the Masons rule
and represented as follows:
G
i
(s) =

i
L
v
ci
=
K
PWM
(s
2
L
l
C +sCR
l
)
s
3
LL
l
C +s
2
LCR
l
+sL
l
+sL+R
l
: (9)
Fig. 5. System configuration of proposed paralleled multi-inverter
system with ACSS.
From (9), it can be observed that the control-to-
inductor current transfer function of an inverter varies
with component values.
D. Design of Current Robust Controller
Design of a current robust controller for a
current-sharing loop is the same as that of a voltage
robust controller, which has been shown in Subsection
B of this section.
IV. ILLUSTRATION EXAMPLES AND DISCUSSION
Three examples, single-inverter, two-inverter, and
three-inverter systems, with current and voltage H
robust controllers are used to illustrate the previous

discussion. The design specifications of the above
examples are given as follows.
A. Output Voltage Loop
1) phase margin (PM) _60
and gain margin

(GM) _40 dB,
2) bandwidth _3 kHz,
3) steady-state error = 0,
4) minimizing the sensitivity to the variations of
input voltage, component value, and load condition.
Fig. 6. Magnitude plot of weighting function W
2
(s) and multiplicative uncertainty-plant.
Fig. 7. Bode plot of sixth-order and second-order robust controllers.
B. Current-Sharing Loop
1) PM _60
and GM _40 dB,

2) bandwidth _3 kHz,
3) steady-state error = 0,
4) minimizing the sensitivity to the variations of
input voltage and component value.
EXAMPLE 1 Single-Inverter System: The electrical
specifications and component values of a single
inverter are collected in Table I. For the output
voltage loop, weighting functions W
1
(s) and W
2
(s) are
determined to satisfy all aforementioned specifications
simultaneously and to ensure robust stability.
Typically, the weighting functions W
1
(s) and W
2
(s) are
chosen as follows:
W
1
(s) =K
1
_
_
_
s
!
/
C
+1
s +10
6
_
_
_
n
1
(10)
TABLE I
Specifications and Component Values of Single-Inverter System
and
W
2
(s) =
_
_
_
s
!
C
+1
_
(10
6
s +1)
_
_
n
2
(11)
where K
1
is used to adjust the tracking error, both
n
1
and n
2
are either 1 or 2, and w
C
and w
/
C
are the
Fig. 8. Bode plot of loop gain in voltage-regulation loop with designed robust controller.
Fig. 9. Output voltage and current waveforms of single-inverter system operating with pure resistant load. (a) Simulation.
(b) Measurement.
Fig. 10. Output voltage and current waveforms of single-inverter system operating with high CF load. (a) Simulation. (b) Measurement.
two parameters used to adjust the bandwidth of the
closed-loop system. For good tracking performance,
sensitivity function S(s) should generally exhibit
low-gain property over low frequency range. Since
|W
1
S|
<1, W
1
(s) must behave as a low-pass filter.
The multiplicative uncertainty-plant G(s) of the
single-inverter system includes the variations of
input voltage, component value, and load condition.
As to the choice of W
2
(s) for system robustness,
the magnitude of W
2
(s) should be large enough to
accommodate the multiplicative uncertainty-plant,
as illustrated in Fig. 6. Similarly, high-pass property
of W
2
(s) is required to achieve enough bandwidth
for the closed-loop transfer function T(s) because
|W
2
T|
<1.
The weighting functions W
v1
(s) and W
v2
(s) of the
output-voltage loop are selected as
W
v1
(s) =
300
_
s
3000
+1
_
s +10
6
(12)
and
W
v2
(s) =
1:5
_
s
3000
+1
_
2
(s +10
6
)
2
: (13)
The 6th order H
robust controller K
V6
(s) can be
derived with MATLAB Robust Control Toolbox.
Through a minimal realization, which is the realization
of a model with the redundant or unnecessary states
eliminated, a second-order robust controller can be
obtained as follows:
K
V
(s) =
10
4
(1:81 10
7
s
2
+7:89 10
4
s +7:64)
10
7
s
2
+5:95s +1:98 10
3
:
(14)
The Bode plots of K
V6
(s) and K
V
(s) are plotted in
Fig. 7. From the figure, we can observe that the
characteristic of K
V6
(s) is nearly the same as that of
K
V
(s) from dc to 3 kHz of the desired bandwidth.
Fig. 8 shows the Bode plot of the loop gain in
the voltage-regulation loop; we can see that the
specifications of the system are achieved with the
Fig. 11. Transient responses of output voltage and current to step load change from 33% to 100% of full load. (a) Simulation.
(b) Measurement.
designed controller. In simulation, the controller
is realized with analog circuits, while in hardware
implementation, they are first converted to discrete
forms with the bilinear transformation, which maps
the s-plane into the z-plane. The designed controller is
represented in difference equations as shown in (15),
and it is programmed on a TMS 320F240 DSP chip
[14].
Y
(K) = 10
7
[2:967U
(K) +5:934U
(K 1)
+2:967U
(K 2)]
1:5379Y
(K 1) 0:5379Y
(K 2)
(15)
where Y
(K) is the output of the voltage controller and

U
(K) is the input of the voltage controller. Simulated

and measured results of such a system loaded with a
resistor are shown in Fig. 9, where the voltage and
current waveforms are sinusoidal and in phase.
These results appear closely consistent with each
other.
Fig. 10 and Fig. 11 show the simulated and
measured output current and voltage responses of
such a system with a high crest factor load (CF = 3)
and with a step load change from 33% to 100%,
respectively. It can be observed from the waveforms
that fast regulation can be achieved. Total harmonic
distortion (THD) and odd harmonics of the output
voltage of the system operated with a full linear load
and a high CF load are listed in Tables II and III,
respectively.
EXAMPLE 2 Two-Inverter System: To investigate the
current distribution between inverters, a two-inverter
system with the circuit parameters collected
in Table IV is simulated and implemented. As
described previously, the robust current-sharing
control technique has been adopted to deal with the
uncertainty between the paralleled inverters. Thus, the
voltage controller of example 1 can also be used in
this inverter.
With the design specifications of current-sharing
loop, the weighting functions W
i1
(s) and W
i2
(s) of the
TABLE II
THD and Odd Harmonics of Output Voltage of Single-Inverter
System Operating with Full Linear Load
TABLE III
THD and Odd Harmonics of Output Voltage of Single-Inverter
System Operating with High CF Load
current-sharing loop are selected as
W
i1
(s) =
20
_
s
3000
+1
_
s +10
6
(16)
and
W
i2
(s) =
0:4
_
s
3000
+1
_
2
(s +10
6
)
2
: (17)
Thus, the robust current-sharing continuous and
discrete controllers are expressed in (18) and (19),
Fig. 12. Bode plot of loop gain in current-sharing loop with designed robust controller.
TABLE IV
Circuit Parameters of Two-Inverter System
respectively
K
i
(s) =
10
7
(6:90 10
7
s
2
+6:83 10
1
s 1:18 10
1
)
s
2
+5:18 10
1
s +1:7210
1
(18)
Y
i
(K) =10
6
[0:0666U
i
(K) +0:1332U
i
(K 1)
+0:0666U
i
(K 2)]
+1:9415Y
i
(K 1) +0:9415Y
i
(K 2) (19)
where Y
i
(K) is the output of the current-sharing
controller and U
i
(K) is the input of the current-sharing
controller. The Bode plot of the loop gain in the
current-sharing loop is shown in Fig. 12. Thus, the
specifications of the current-sharing loop with the
designed controller are met in this paper. Simulated
and measured voltage and current waveforms for
pure resistant load are illustrated in Fig. 13, where
v
o
denotes the output voltage, and i
o1
and i
o2
are the
output currents of inverters 1 and 2, respectively.
Fig. 14 shows the simulation of the output voltage
and output currents of the two-inverter system with a
high CF load. It can be observed from these plots that
Fig. 13. Output voltage and current waveforms of two-inverter system with pure resistant load. (a) Simulation. (b) Measurement.
Fig. 14. Simulated output voltage and current waveforms of two-inverter system with high CF load.
equal current distribution can be achieved regardless
of the types of loads and component discrepancy
between inverters.
EXAMPLE 3 Three-Inverter System: For further
verifying the feasibility of the proposed ACSS,
a three-inverter system with a pure resistant load
Fig. 15. Simulated output voltage and current waveforms of three-inverter system with (a) inverter 3 in failure, and (b) inverter 3
connected to load.
is simulated, whose results are plotted in Fig. 15.
The three output currents are tracking each other
precisely and the output voltage waveform sustains
sinusoidal. Moreover, in order to investigate the
system reliability, the system with ACSS under
the case of one inverter in open-circuit failure or
short-circuit failure is presented. Fig. 15(a) shows
the waveforms of a system with inverter 3 in these
failures. It can be seen that the output voltage and
current waveforms are sinusoidal and in phase without
noticeable variation under such a sudden failure, and
the other two inverters can continuously supply power
to the load. Fig. 15(b) shows a plot in which the load
is first supplied by inverter 1 and inverter 2, and then
inverter 3 is synchronized and connected to the load.
Again, it can be observed that the three inverters can
share output current equally and output voltage is
sinusoidal.
The advantages of the paralleled multi-inverter
system with the robust ACSS are outlined as
follows.
1) It can reduce the system uncertainties and
achieve system stability and robustness.
2) Each inverter module can be kept in the same
configuration in a paralleled inverter system with any
number of inverters.
3) Even a single inverter can work with a
current-sharing center because the gain of the
current-sharing center in a single-inverter system is
unity.
4) A hot-swap feature of the paralleled system can
be achieved at any operating time.
5) Under any inverter failure, the system still
works successfully.
6) Equal output current distribution among the
inverters and fast output regulation can be achieved
while component values, input voltages, and loads
may vary over a wide range.
V. CONCLUSIONS
An ACSS for inverters in parallel operation to
achieve equal current distribution has been studied.
Each inverter in the proposed system consists of a
voltage robust controller to achieve a fast dynamic
response, and a current robust controller to reach
system robustness and to reduce uncertainty among
Fig. 16. (a) Circuit diagram and (b) control block diagram of
output L-C filter and load.
inverters. It has been verified that a system with
ACSS can accommodate various types of loads and
variations of input voltage and component value.
In other words, the proposed ACSS is with a tight
current tracking characteristic regardless of the types
of loads and discrepancy among inverters. In addition,
flexibility and hot-swap feature can be achieved for a
system with various numbers of inverters.
Simulation results have shown that fast dynamic
response, tight output regulation, and equal current
distribution can be achieved in the proposed paralleled
multi-inverter systems. Hardware measurements
obtained from a laboratorious prototype have shown
similar performance to those of the simulation results
and have also verified the theoretical discussion.
APPENDIX A
The half-bridge inverter consists of a half-bridge
switch configuration and an output L-C filter. The
half-bridge switch can be modeled as an amplifier
with gain K
PWM
, in which nonlinearity of PWM
switches is neglected. Additionally, a circuit diagram
of an output L-C filter is shown in Fig. 16(a).
Choosing capacitor voltage
v
c
and inductor current

i
L
as state variables, and PWM input

d and load current
I
o
as inputs, the system dynamic equations can be
derived as follows:
v
i
=L
i
L
+r
C
i
C
+
v
C
(20)
v
c
=
1
C
i
C
(21)
and
i
C
=
i
L
I
o
: (22)
Or,
i
L
=
_
r
L
+r
C
L
_
1
L
v
C
+
1
L
d +
r
C
L

I
o
(23)
and
v
C
=
1
C
i
L
1
C
I
o
: (24)
From the above equations, a block diagram of the
output L-C filter can be represented in Fig. 16(b)
and the closed-loop block diagram of the inverter
system can be represented in Fig. 2. Therefore, the
control-to-output voltage and control-to-inductor
current transfer functions, respectively represented in
(1) and (9), can be derived with the Masons rule.
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Combination voltage-controlled and current-controlled
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IEEE Transactions on Power Electronics, 10, 5 (Sept.
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[7] Tuladhar, A., Jin, H., Unger, T., and Mauch, K. (1997)
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[8] Kawabata, K., Sashida, N., Yamamoto, Y., Ogasawara, K.,
and Yamasaki, Y. (1991)
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[9] Kawabata, T., and Higashino, S. (1988)
Parallel operation of voltage source inverters.
IEEE Transactions on Industry Applications, 24, 2
(Mar./Apr. 1988), 281287.
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[11] Lee, C. S., et al. (1998)
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[12] Doyle, C., Francis, B. A., and Tannenbaum, A. R. (1992)
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Yu-Kai Chen (S98M99) was born in Chia-Yi, Taiwan, in 1967. He received
the B.S. degree in electronic engineering from Feng Chia University Tai-Chung,
Taiwan and the M.S. degree in information and electronics engineering from
National Central University, Chung-Li, Taiwan, and the Ph.D. degree in electrical
engineering from National Chung Cheng University, Chia-Yi, Taiwan, in 1990,
1994, and 1999, respectively.
From 1994 to 1999, he was a Lecturer in the Department of Electronic
Engineering, Wu Feng Institute of Technology, Chia-Yi, Taiwan. He was
an associate professor in the Department of Electrical Engineering at Chien
Kuo Institute of Technology from 2000 to 2001. Since 2002, he has been
with the Aeronautical Engineering, National Hu-wei Institute of Technology,
Yun-lin, Taiwan, where he is currently an associate professor. His research
interests include modeling and control of dc/dc converters, design of converters
and inverters, and design of solar-panel supplied systems, and DSP- and
microprocessor-based application systems with fuzzy and robust control.
Yu-En Wu was born in Chia-Yi, Taiwan, in 1964. He received the B.S. degree
in electrical engineering from Taiwan Institute of Technology, Taipei, Taiwan, in
1989, and the M.S. degree in electrical engineering from Sun Yat-Sen University,
Kaohsiung, Taiwan, in 1992.
He is currently a Ph.D. candidate in the Department of Electrical Engineering,
National Chung Cheng University, Chia-Yi, Taiwan, and is also an instructor of
electronic engineering at Wu-Feng Institute of Technology. His research interests
include modeling and control of converters, design of inverters, multi-inverter
system, and paralleling UPS system.
[14] Chen, C-T. (1993)
Analog & Digital Control System Design:
Transfer-function, State-space, & Algebraic Methods.
New York: Oxford University, 1993.
Tsai-Fu Wu (S89M91SM98) received the B.S. degree in electronics
engineering from National Chiao-Tung University, Taiwan, in 1983, the M.S.
degree in electrical and computer engineering from Ohio University, Athens, in
1988, and the Ph.D. degree in electrical engineering and computer science from
University of Illinois at Chicago, in 1992.
From 1985 to 1986 he was a system engineer at SAMPO, Inc., Taiwan,
developing and designing graphic terminals. He was a teaching and research
assistant in the Department of Electrical Engineering and Computer Science,
University of Illinois, Chicago, from 1988 to 1992. Since 1993, he has been
with the Electrical Engineering Department, National Chung Cheng University,
Taiwan, where he is currently a professor, department head and the Director
of the Power Electronics Applied Research Laboratory (PEARL). His research
interests include developing and modeling of power converters, design of
electronic dimming ballasts for fluorescent lamps, metal halide lamps and plasma
display, and design of solar-panel-supplied inverters for grid connection.
Dr. Wu is a Senior Member of the CIE.
Chung-Ping Ku was born in Kaohsiung, Taiwan, in 1977. He received the B.S.
degree in electrical engineering from National Huwei Institute of Technology,
Yulin, Taiwan, in 2000, and the M.S. degree from National Chung-Cheng
University, Chia-Yi, Taiwan, in 2002.
He currently joins Industrial Technology Research Institute, Taiwan, designing
power converter for the sulfur lamp system. His research interests include power
converters, ballasts and microprocessor-based application systems.

ACSS For Paralleled Multi-Inverter Systems With DSP-Based Robust Controls

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ACSS For Paralleled Multi-Inverter Systems With DSP-Based Robust Controls

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ACSS for Paralleled

Multi-Inverter Systems with

robust control technique is

robust control is depicted in Fig. 4, in which the

robust controllers are used to illustrate the previous

and gain margin

and GM _40 dB,

(K) is the output of the voltage controller and

(K) is the input of the voltage controller. Simulated

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