2622 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 32, NO.

4, APRIL 2017

Performance Enhancement of Shunt Active Power

Filter Using a Kalman Filter-Based H∞
Control Strategy
Rakhee Panigrahi and Bidyadhar Subudhi, Senior Member, IEEE

Abstract—This paper proposes a Kalman filter (KF)-based H∞ T (s) Complementary sensitivity transfer function.
control scheme for a three-phase shunt active power filter (SAPF) Ms Gain for high frequency in tracking error performance.
system. For the current control loop, a H∞ controller is designed
es Gain for low frequency in tracking error performance.
with a mixed sensitivity approach for achieving stability and high-
disturbance rejection in the SAPF system. A new current reference ωb c Control bandwidth for control effort performance.
scheme is also proposed that employs KF to avoid synchronization Mu Gain for high frequency in control effort performance.
circuit and proportional integral (PI) controller loop resulting in a eu Gain for low frequency in tracking error performance.
reliable and cost-effective SAPF system. This reference scheme can ωbt Control bandwidth for robust performance.
self-regulate the dc-link voltage by a fast and adaptive estimation
Mt Gain for high frequency in robust performance.
of the source reference current with power system perturbations
raised in source or load sides. The efficacy of the proposed KF- et Gain for low frequency in robust performance.
H∞ control algorithm is evaluated through comparison with an Φk State transition matrix.
existing PI and PI plus vector PI (PI-PIVPI) algorithm and then Hk Observation matrix.
validated with experimental studies pursued using a dSPACE1104. Kk Kalman Gain.
From the obtained experimental results, it is observed that the
proposed SAPF significantly outperforms the existing PI-PIVPI
in terms of exhibiting robustness to modeling uncertainties and I. INTRODUCTION
insensitivity to grid perturbations such as harmonics, measurement
ANY utilities and their customers have realized the im-
noise, and phase angle jump. Thus, the power quality improvement
is achieved in terms of perfect current harmonics cancellation as
well as power factor improvement.
M portance of solving the power quality (PQ) problems
[1]. A number of filters [2], [3] are used to improve the power
Index Terms—Active power filter, harmonics cancellation, quality, but shunt active power filters (SAPFs) [4] are so far the
power factor improvement, power quality, robustness. most widely accepted and dominant filters of choice in most in-
dustrial processes. These filters have the benefit of contributing
NOMENCLATURE to reactive power compensation, current harmonics cancella-
Rs Resistance of source. tion, and balancing of three-phase currents. This motivates us
Ls Inductance of source. to develop a comprehensive and cost effective control strategy
Lf Inductance of SAPF line inductors. that can be implemented without complexities but fully utilize
Rf Resistance of SAPF line inductors. the SAPF system to solve a wide range of PQ problems.
vdc DC voltage of SAPF. Two tasks are important for a SAPF to perform, namely, the
Vs Source voltage. generation of appropriate current references and the ability to
a, b, c Suffixes for three phases. rapidly follow the reference current signals. For generating com-
ILab c Load current. pensating reference current, identifying the harmonic contents
ISab c Source current. of the load current is the most important stage in the control
IFab c Compensating current. structure of a SAPF. It can be identified by directly determin-
∗
ISab c Reference source current. ing each of the harmonic components, or indirectly subtracting
∗
IFab c Reference compensating current. the fundamental component from the load current. To obtain
G(s) Transfer function of SAPF. efficient filter performance, the indirect method exhibits sim-
K(s) Transfer function of H∞ controller. pler and fast implementation. Most of the proposed methods
S(s) Sensitivity transfer function. [5] are based on conventional unit vector necessitating a PI
controller loop for dc-link voltage regulation. Further, a PI con-
troller performs satisfactorily up to the steady state level. But
Manuscript received October 21, 2015; revised January 30, 2016 and April
1, 2016; accepted May 16, 2016. Date of publication May 24, 2016; date of when load varies, the amplitude of the source reference current
current version January 20, 2017. Recommended for publication by Associate must be adjusted quickly in proportion to the changes in the real
Editor Q.-C. Zhong. power drawn from the source to keep dc-link voltage constant.
The authors are with the Department of Electrical Engineering, National Insti-
tute of Technology, Rourkela, 769008, India (e-mail: rpanigrahi99@gmail.com; With above mentioned views, our proposed reference scheme is
bidyadharnitrkl@gmail.com). based upon a fast and adaptive estimation of source reference
Color versions of one or more of the figures in this paper are available online current, which has the capability of delivering real power equiv-
at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TPEL.2016.2572142 alent to conduction and switching losses occur during capacitor

0885-8993 © 2016 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission.
See http://www.ieee.org/publications standards/publications/rights/index.html for more information.
PANIGRAHI AND SUBUDHI: PERFORMANCE ENHANCEMENT OF SHUNT ACTIVE POWER FILTER USING A KALMAN FILTER-BASED
Fig. 1. Proposed SAPF control scheme.
voltage deviation. KF [6], [7] is employed here for fast estima-
tion of positive sequence current from the fundamental compo-
nent of supply current, which leads to generate source reference
because negative and zero sequence components can degrade the
harmonics compensation efficiency of SAPF. It is expected that
our proposed reference generation approach can overcome the
difficulties of PI controller and can adaptively regulate the dc-
link voltage with consideration of power system perturbations
arisen in load as well as source sides. As a consequence, our
proposed reference generation scheme can make SAPF robust
against above perturbations.
Moreover, parameters of SAPF may vary due to component
aging, thermal drift and saturation effects caused by the oper-
ating environment. To further enhance the robust performance
of SAPF, it is essential to design robust controllers that provide
good disturbance rejection and robustness against uncertainties
in the system dynamics. Furthermore, application of robust con-
trol scheme is not very popular in distribution of power system
and is limited to medium voltage level dynamic voltage restorer
(DVR) [8], where H∞ controller is employed for the purpose
of voltage control only. However, H∞ control of SAPF has not
been actively investigated for the purpose of mitigating harmon-
ics and power factor compensation so far. In view of addressing
all the aforementioned issues, H∞ robust controller is proposed,
designed and investigated in this paper for mitigating current
harmonics as well as reactive power to achieve unity power
factor in SAPF. H∞ controller is synthesized using mixed sen-
sitivity approach for achieving stability and high-disturbance
rejection in SAPF.
Fig. 1 shows the SAPF system, which is comprised of dc-link
voltage (vdc ) and a three phase insulated gate bipolar transistor
(IGBT) inverter followed by an inductive output filter. It is in-
tended to design a SAPF system through injecting current into
the line such that harmonic content of the load current can be
compensated. Moreover, power system perturbations such as
model uncertainty, parameter variations of load, several distur-
bances on the grid such as harmonics, measurement noise and
phase angle jump which may affect the dynamic behavior of
2623
Fig. 2. H ∞ control configuration with weighting functions.
SAPF. In this paper, we intend to achieve robust stabilization
of the proposed KF- H∞ -based SAPF and minimum current
tracking error leading to perfect current harmonics cancellation
with consideration of aforesaid uncertainty problems as well as
grid perturbations in SAPF. However, a H∞ -based unified power
quality conditioner [9] does not take into account grid perturba-
tions as well as load dynamics and involves with a complicated
approach.
The paper is organized as follows. The design of the current
controller using H∞ control theory is presented in Section II.
The proposed current reference generation scheme and self-
regulation of dc-link voltage are described in Sections III and
IV, respectively. The results obtained from hardware implemen-
tations are presented and discussed for various cases of power
system perturbations in Section V and finally, the conclusion is
presented in Section VI.
II. DESIGN OF THE PROPOSED H∞ CONTROLLER FOR SAPF
Robustness in control systems design is very important, be-
cause real world systems are vulnerable to external disturbance
and measurement noise, and there are always discrepancies be-
tween mathematical models developed for design and the actual
system. To achieve the desired performance levels in the pres-
ence of disturbance signals, noise interference, unmodeled plant
dynamics and plant parameter variations, a H∞ control method
has been implemented in voltage source inverter [10], dc–dc
converter [11] and single phase UPS inverter [12]. A H∞ con-
troller can be synthesized using different techniques, but H∞
loop shaping is gaining very high acceptance since its perfor-
mance requirements can be incorporated in the design stage as
performance weights. In the H∞ loop shaping technique a plant
model is augmented with certain weight functions like sensitiv-
ity weight function (W1 ), complementary weight function (W3 ),
and control sensitivity weight function (W2 ) so that closed loop
transfer function of the plant will have desired performances.
H∞ controller can be synthesized by using the Robust Control
Toolbox in MATLAB which finds the optimal solution of the
mixed sensitivity problem [13].
The standard H∞ configuration for current control of a SAPF
is shown in Fig. 2, where G(s) is the nominal plant transfer
function; K(s) is the desired H∞ controller; w, u, y and z are the
exogenous input, control input, measured output, and controlled
output, respectively.
2624 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 32, NO. 4, APRIL 2017

The transfer function of the nominal plant or SAPF can be

expressed as follows:
1
G(s) = (1)
1.5Ts Lf s2 + (1.5Ts Rf + Lf ) s + Rf
where Ts , Lf ,and Rf represent sampling period, filter induc-
tance and winding resistance, respectively. The processing delay
of 1.5Ts is taken into account for the control design due to the
inclusion of 1) Digital processor dSPACE1104, where analog to
digital conversion process involves with a delay of Ts , and 2)
PWM converter, where the PWM pattern are implemented with
a delay of 0.5Ts .
Mixed sensitivity problem is to find K(s) and make H∞ norm
of the transfer function from w to z be less than unity. This can
be expressed as follows:
 
 W1 S 
 
 
 W2 KS  < 1 or equivalent Twz  < 1 (2)
  ∞
 
 W3 T 
∞

where S(s) = (1 + G(s)K(s))−1 is the sensitivity transfer

function, K(s)S(s) is the input sensitivity transfer function
and T (s) = G(s)K(s)(1 + G(s)K(s))−1 is the complemen-
tary sensitivity transfer function. By proper selection of weight-
ing functions W1 , W2 , W3 , their corresponding transfer func-
tions can be shaped.
A. Weighting Function Selection for Tracking Error
Performance
The tracking error performance can be expressed in terms of
the H∞ constraints as W1 S∞ < 1. For properly shaping of
sensitivity function S(s), the weighting function W1 should be
carefully determined. Tracking errors can be reduced to a very
small value by properly shaping of the transfer function S(s)
satisfying the closed loop bandwidth ωb , gain for high-frequency
disturbance Ms and gain for low-frequency control signal es
requirements, as shown in Fig. 3(a) and these requirements can
be approximately represented as follows:
 
s + ω e 
 b s
|S(s)| ≤  s  , s = jω (3)
 M s + ωb 
where
ωn 0.6 + 2.16ξ
ω b = √ , ωn = (4)
2 tr
where ωn , ξ, and tr are the natural frequency, damping ratio,
and rise time of the closed loop system, respectively [13].
Further, Ms can be expressed as follows:
 where eu denotes gain for low-frequency control signal.
β β 2 + 4ξ 2
Ms = s∞ = |s (jωm ax )| =  (5)
(1 − β 2 )2 + 4ξ 2 β 2
 
where β = 0.5 + 0.5 1 + 8ξ 2 and ωm ax = βωn .
We can regard the value of ωb as given in (3) since beyond
this frequency, the closed-loop system may not be able to track
the reference and the disturbance will actually be amplified.
Fig. 3. (a) Performance weight 1/W 1 and desired S, (b) control weight 1/W 2
and desired KS, and (c) complementary weight 1/W 3 and desired T.
Moreover, a good control design should not have a very large
Ms as it can result in high overshoot. The above requirements
can be achieved using a standard weighting function given by
s
Ms + ωb
W1 (s) = . (6)
s + ωb es
B. Weighting Function Selection for Control Effort
Here, we intend to keep the control inputs small by the allow-
able cost of control effort and saturation limit of the actuators;
hence, the maximum gain Mu of input sensitivity KS can be
fairly large, while the high-frequency gain is essentially limited
by the controller bandwidth ωb c and the noise frequencies. We
would like to roll off as fast as possible beyond the desired con-
trol bandwidth so that the high-frequency noises are attenuated
as much as possible. Hence, the control weighting function for
the input sensitivity shaping can be determined as follows:
s+ ωb c
Mu
W2 (s) = (7)
eu s + ωb c
C. Weighting Function Selection for Robust Performance
The complementary sensitivity function is weighted to
achieve stability robustness characteristics (e.g., insensitivity
to noise and unmodeled dynamics). Because, noise has most of
its energy concentrated at high frequencies, a high-pass weight
is used on the complementary sensitivity function. This has the
PANIGRAHI AND SUBUDHI: PERFORMANCE ENHANCEMENT OF SHUNT ACTIVE POWER FILTER USING A KALMAN FILTER-BASED 2625

same form as the input sensitivity weighting function and when 2) Q-SOGI combines with frequency locked loop to provide
S is decreased, T has to be increased since S + T = 1. The frequency estimation of a signal. But, KF algorithm itself
standard form of a complementary sensitivity weight function provides estimation of grid voltage without having any
is as follows: additional phase locked loop.
ωb t 3) Since, KF is based on minimum variance estimator and
s+ Mt
W3 (s) = . (8) the error covariance matrix is recursively minimized, the
et s + ωbt time-varying grid voltage is estimated quickly and accu-
The nomenclature for ωbt , Mt , et are the same as previous rately through KF. However, the presence of two cascaded
weighting functions. integrators in closed loop in Q-SOGI scheme gives rise to
An iterative procedure with assumed initial values is followed a finite amount of delay in estimation.
to find out the weighting functions W1 , W2 and W3 . The initial 4) Usually, estimation depends upon gain value and when
choices for weighting functions are given in (9) the gain value is high, the estimation will be better. But,
when the gain value is high at certain instance in case
es = 0.1, Ms = 1, eu = 0.01, Mu = 1, et = 0.01, Mt = 1. of Q-SOGI, a large overshoot is produced resulting in
(9) imperfect estimation.
The performance criteria for H∞ controller mentioned in (2) Determination of positive sequence currents are obtained by
are evaluated along with the shaping of closed loop responses using the following formula:
of the weighting functions. The selection of weighting function ⎡ + ⎤ ⎡ ⎤⎡ ⎤
Isa k 1 α α2 Isa 1 k
needs a careful iteration procedure, for example, if the first iter- ⎢ + ⎥ 1⎢ 2 ⎥⎢ ⎥
⎢I ⎥ = ⎢α α⎥ ⎢ ⎥
ation of the derived specifications given in (9) were not satisfied, ⎣ sb k ⎦ 3 ⎣ 1 ⎦ ⎣ Isb 1 k ⎦ (10)
then subsequent iterations had to be pursued. The objective of α α2 1
I+
sc k Isc 1 k
the H∞ controller is to modify the weights until the various
S a , IS b , IS c ) are the positive sequence currents and
where (I+ + +
performance criterions such as tracking error performance, con-
k k k
◦ ◦
trol effort performance as well as robust performance can be α = ej 120 . Defining 90◦ √
phase shift operator as ej 90 and con-
◦
achieved simultaneously. sidering α = −(1/2) ± ( 3/2)ej 90 then (10) becomes
1 1 √3 
III. PROPOSED REFERENCE CURRENT GENERATION I+
sak = Is a 1 k − Is b 1 k + Is c 1 k + I⊥ ⊥
s b 1 k − Is c 1 k
3 6 6
Presence of negative and zero sequence components in the
s b k = −Is a k − Is c k
I+ + +

fundamental current may be ineffective in the generation of

1 1 √3 
source reference as they degrade the performance of SAPF sys- = Is c 1 k − I⊥ ⊥
I+
sck Is a 1 k + Is b 1 k + s a 1 k − Is b 1 k .
tem. Hence, it is necessary to resolve the effects of these com- 3 6 6
ponents and the proposed reference current scheme only deals (11)
with the positive sequence component extraction from the fun-
Therefore, the reference compensating currents are generated
damental component of supply current, which acts as source
with the following equations:
reference signal as shown in Fig. 1. This scheme self-maintains
the dc-capacitor voltage by accurately estimating the peak and I∗Sabc k = I+
Sabc k (12)
fundamental of the source reference current. A brief description
I∗Fabc k = ILabc k − I∗Sabc k (13)
of self-regulating dc-capacitor voltage is provided in Section IV.
Since KF [7] was found to be an optimal estimator for lin- where I∗S abc k , I∗F abc k
and IL abc k denote reference source current,
ear systems, it is employed for estimation of the in-phase fun- reference compensating current, and load current, respectively.
damentals (IS a 1 k , IS b 1 k , IS c 1 k ) and in-quadrature fundamentals The formulation of the KF algorithm for the in-phase and
(IS⊥a 1 , IS⊥b 1 , IS⊥c 1 ) from the source currents (IS a k , IS b k , IS c k ). in-quadrature fundamental component estimation is described
k k k
This avoids the need for additional filters to provide phase shift next.
in the fundamental component to obtain in quadrature compo-
nent. Although, a simpler scheme such as quadrature-second A. Estimation of In-Phase and In-Quadrature Fundamental
order generalized integrator (Q-SOGI) has been used in the lit- Components Using KF Algorithm
erature [14] to obtain the signal in quadrature, KF is preferable A linear signal sk of single sinusoid is represented by the
due to the following advantages. following:
1) There is no need of any additional blocks to provide phase
sk = a1 sin(kω1 Ts + φ1 ) k = 1, . . . , N (14a)
shift in the in-phase component to obtain in-quadrature
component in case of KF. Through KF algorithm, both ω1 = 2πf1 (14b)
in-phase and in-quadrature components are directly es-
where a1 and f1 are the fundamental amplitude and frequency
timated and hence, computationally it becomes fast and
parameters, respectively with initial phase φ1 . The signal sk +1
effective. However, some additional blocks are needed for
can be expressed as follows:
obtaining in quadrature component in case of Q-SOGI and
make the process slow. sk +1 = x1 k + 1 = x1 k cos(kω1 Ts ) + x2 k sin(kω1 Ts ). (15)
2626 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 32, NO. 4, APRIL 2017

∗
Further where vdc is the reference dc-link voltage and C is the capac-
itance of each capacitor [15]. On the other hand, the charging
x2 k + 1 = − x1 k sin(kω1 Ts ) + x2 k cos(kω1 Ts ) (16)
energy Eac delivered by the three phase supply side to the in-
where x1 k (IS abc 1 k ) and x2 k (I⊥
S abc 1 k ) are known as the in- phase
verter for each capacitor will be as follows:
 
and in-quadrature components, respectively and are represented Vp I∗s tp
as follows: Eac = 3Pr t = 3 √ √ cos φr (29)
2 2 2
x1 k = a1 sin(kω1 Ts + φ1 ) (17a) where Pr is the additional real power required, t is the charging
x2 k = a1 cos(kω1 Ts + φ1 ). (17b) time, Vp is the peak value of the instantaneous supply voltage, I∗s
is the estimated desired peak value of the instantaneous supply
To model amplitude or phase variations of the signal, a per- current by KF, and φr is the phase difference between the supply
turbation vector [ γ1 γ2 ]Tk in the system states is considered t
voltage and the supply current. t can be defined as 2p since
with the state space representation as follows: the charging process only takes place for half a cycle for each
xk +1 = Φk xk + wm k (18) capacitor, where tp is the period of the supply frequency. By
making the supply voltage and the supply current in phase, i.e.,
yk = Hk xk + vm k (19) cos φr = 1, (29) results in the following:
where wm k and vm k are the process and measurement noises 3Vp I∗s tp
Eac = . (30)
respectively and the state transition matrix Φk and the observed 4
value Hk are given below Neglecting the switching losses in the inverter and according
 
cos(ω1 Ts ) sin(ω1 Ts ) to the energy conservation law, the following equation holds:
Φk = (20)
− sin(ω1 Ts ) cos(ω1 Ts ) Edc = Eac
 ∗ 2
Hk = [ 1 0 ]. (21) 1 v 3 ∗
C dc = I Tp 4
2 2 Vp s
Denoting the estimate of xk +1 as x̂k +1|k , the sequential re- 
cursive computation steps for identification of the fundamental ∗ 6Vp I∗s tp
component are given by the following: vdc = . (31)
C
x̂k +1|k = Φk x̂k |k −1 + km k (yk − Hk x̂k |k −1 ) (22) Equation (31) shows that if any variation of I∗s occurs through
power system perturbations arising in the load or source sides,
where ∗
vdc will be changed. In this fashion, dc-voltage regulation is
 −1
km k = Φk Pk |k −1 HTk Hk Pk |k −1 HTk + Rm k (23) directly dependent upon the peak value of the reference source
current. With aforementioned views, our proposed source refer-
is the Kalman gain and the error covariance matrix is given as ence current scheme is based upon the estimation of the desired
follows: peak value of reference current adaptively employing KF, as a
Pk +1|k = Φk Pk |k −1 ΦTk − km k Hk Pk |k −1 ΦTk + Qm k . (24) consequence capacitor voltage regulation is fast with consider-
ation of above power system perturbations.
Qm k and Rm k are the process and measurement error covari-
ance matrices, respectively V. EXPERIMENTAL VALIDATION
T
Pk +1|k = E{(xk +1 − x̂k +1|k )(xk +1 − x̂k +1|k ) } (25) A. Experimental Details of SAPF Model
T
Qm k = E{wm k wm k} (26) The control of SAPF is achieved by KF-H∞ -based control
T algorithm implemented on dSPACE1104 and the interface be-
Rm k = E{vm k vm k} (27)
tween Simulink/MATLAB and dSPACE1104 permits running
where E(.) denotes the expectation operator. the control algorithm [6]. The circuit parameters of the prototype
SAPF developed in the Laboratory are given in Table I.
IV. SELF-REGULATING DC-CAPACITOR VOLTAGE For KF design in reference current estimation, Qm k =
0.011 I22 A2 and Rm k = 20 A2 were chosen initially to tune
When power system perturbations arise in load as well as
KF in simulation. Further, the weighting signal is minimized
source sides of power system, average voltage across the dc-
more with increase of weighting parameter. Hence, the simu-
link capacitor deviates from its reference value. To regulate the
lation process is continued by increasing the above covariance
dc-capacitor voltage at the desired level, an additional real power
values until an optimality of KF can be enriched. After several
has to be drawn by the SAPF from the supply side to charge
iteration processes, Qm k and Rm k are set to 0.05I22 A2 and
the capacitor. The energy Edc stored in each capacitor can be
200 A2 .
determined as follows:
 ∗ 2 Moreover, the necessary weighting functions are defined with
1 v all parameters specified in Table II. The typical plots for S, KS,
Edc = C dc (28)
2 2 and T with their corresponding inverse weighting functions are
PANIGRAHI AND SUBUDHI: PERFORMANCE ENHANCEMENT OF SHUNT ACTIVE POWER FILTER USING A KALMAN FILTER-BASED 2627

TABLE I
SYSTEM PARAMETERS USED FOR EXPERIMENT

Elements Parameters Values

SAPF Switching frequency 12.5 kHz

Dead time 4 μs
DC-link voltage 220 V
DC-link capacitor 2350 μF
Filter Inductor 2.5 mH
AC Power source Supply voltage RMS line-line 100 V Fig. 4. Test case-1: (a) Three-phase supply voltages, and (b) three-phase load
Supply frequency 50 Hz currents.
Nonlinear Load Three-phase diode bridge Rectifier –
Load impedance(Base case) 20 Ω, 10 m H

TABLE II
H ∞ PERFORMANCE FUNCTION SPECIFICATION

Weighting Functions Specifications

W1 ω b = 5 rad/s M s = 1.9946 e s = 1 × 10 −1
W2 ω b c = 2 × 10 3 rad/s M u = 16 e u = 1 × 10 −2
W3 ω b t = 3 × 10 3 rad/s M t = 18 e t = 1 × 10 −2

shown in Fig. 3 and from the figure, it is clear that a proper

shaping of the sensitivity functions is achieved as described in
Section III. Using the MATLAB ‘hinfsyn’ algorithm, the H∞
controller that nearly minimizes the H∞ norm of the transfer
function from w to z is obtained as follows: (32) as shown at
bottom of the page.
Since SAPF system is infinite dimensional, the controller
approximation is essential and the balanced truncation method
(modred function in MATLAB) is used to reduce order of the
above controller. The resulting reduced controller is as follows:
1.306s + 9.043
k (s) = . (33)
s + 0.501
Using MATLAB c2d (ZOH) algorithm, the discretized con-
troller can be obtained as follows:
1.306z − 1.305
k (z) = . (34)
z−1
The resulting H∞ norm tw z ∞ is obtained as 0.5307 and
hence the closed loop control system is stable [16]. Further,
the robustness depends upon weight computation approach and
based upon this weight calculation, a perfect loop shaping has
been achieved as shown from Fig. 3. Therefore, the robustness
of the system is very good.
B. Experimental Results and Discussions
The proposed control algorithm has been implemented in
real-time on the hardware set up developed in the Lab [6]. To
verify the robustness of the proposed scheme, experimentation
studies are performed for both steady state and dynamic con-
ditions of power system. The efficacy of the proposed control
Fig. 5. Test case-1: (a) Three-phase source reference currents in proposed
method, (b) three-phase compensating currents in proposed method, and
(c) dc-link voltage in proposed method.
scheme is compared with an existing SAPF [4], where PIVPI
is employed as an alternative version of resonant current con-
troller and simply PI controller for reference current generation
in SAPF. The experimental studies for both steady state and
dynamic conditions are performed and are presented next.
1) Test Case 1: Balanced Supply Voltages-Steady State Load
(R–L) Condition: The performance of the proposed SAPF is
analyzed with the base case load impedance. A diode bridge
rectifier with a resistive (R)-inductive (L) load is chosen as the
test load [6] to investigate the performance of the SAPF for load
compensation. The three-phase balanced sinusoidal supply volt-
ages (VSa , VSb , VSc ) are shown in Fig. 4(a). Fig. 4(b) shows
the load currents (IL a , ILb , ILc ) of amplitude about 9.89 A for
three phases a, b, and c. Three phase source reference cur-
rents (I∗Sa , I∗Sb , I∗Sc ) estimated employing KF are presented in
Fig. 5(a). It is seen that source reference currents are undis-
torted and perfectly sinusoidal. Fig. 5(b) and (c) depicts the
compensating currents (IF a , IFb , IFc ) and dc-link voltage vdc ,
respectively. DC-link voltage is nearly constant at its set-point
value around 220 V providing a good voltage regulation across
the dc bus. The harmonic spectra are analyzed using a power

(0.0003296s4 + 9.889 × 105 s3 + 6.593 × 101 4 s2 + · · ·

· · · + 9.422 × 101 8 s + 6.279 × 101 9 )
k (s) = (32)
(s5 + 1 × 109 s4 + 1.642 × 101 3 s3 + 3.101 × 101 6 s2 + · · · + 6.964 × 101 8 s + 3.479 × 101 8 )
2628
Fig. 6. Test case-1: Harmonic spectra of (a) phase-a load current, (b) phase-a
source current in the Proposed method, and (c) phase-a source current in the
Existing method.
Fig. 7. Test case-2: Waveforms of three phase source currents, (i) proposed
method, and (ii) existing method.
Fig. 8. Test case-2: Harmonic spectra of (a) phase-a source current in proposed
method, and (b) phase-a source current in existing method.
quality analyzer and the recorded harmonic spectra for uncom-
pensated as well as compensated phase “a” current are shown
in Fig. 6. The THD in the load current is as high as 25.9%, but
the THD in the source current has been lowered to 2.2% and
3% in case of proposed and existing method respectively. This
is due to better harmonics rejection, control effort and track-
ing performance of proposed method over existing PI-PIVPI
method.
2) Test Case 2: Balanced Supply Voltages-Changing SAPF
Parameters: In this case, the SAPF parameters are increased
from Rf = 0.05 Ω, Lf = 2.5 mH to Rf = 0.5 Ω, Lf = 3 mH.
Under this condition, the performance of the proposed approach
is verified with existing technique. From Fig. 7, it is observed
that in case of proposed approach, the waveforms for the source
current are smooth and distortion less as compared to the exist-
ing PI-PIVPI method. Also, the THD of phase-a source current
after compensation is analyzed in Fig. 8, which shows the su-
periority of the proposed KF-H∞ method (i.e., THD = 2.3%)
over PI-PIVPI method (i.e., THD = 3.2%). Therefore, the ef-
fective harmonics compensation is more in case of proposed
method.
3) Test Case 3: Balanced Supply Voltages- Dynamic Load
Condition With Phase Angle Variation: Under the condition of
IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 32, NO. 4, APRIL 2017
Fig. 9. Test case-3: (a) Three phase load currents, and (b) dc-link voltage in
proposed method.
Fig. 10. Test case-3: (a) Waveforms of three phase compensating currents,
and (b) waveforms of three phase source currents, (i) proposed method, and
(ii) existing method.
Fig. 11. Test case-3: Harmonic spectra of (a) phase-a load current, (b) phase-a
source current in proposed method, and (c) phase-a source current in existing
method.
sudden load change with phase angle jump, the performance
of the proposed SAPF is verified with the existing PI-PIVPI
considering balanced supply voltages. To create dynamic con-
dition, the load is changed from (R = 30 Ω, L = 15 mH) to
(R = 20 Ω, L = 10 mH) as illustrated in Fig. 9(a). The phase
angle variation is clearly visible as soon as the load is changed.
Accordingly, dc-link voltage is deviated from its reference at
load changing point and settles at 220 V with a time delay of
0.05 sec in case of proposed method [see Fig. 9(b]. Moreover, the
compensating current and source current profiles can be viewed
from Fig. 10 for both existing and proposed techniques. As
noticed, the proposed KF-H∞ -based SAPF approach achieves
better compensation waveforms as compared to PI-PIVPI.
Fig. 11 shows the significant reduction of THD of the
PANIGRAHI AND SUBUDHI: PERFORMANCE ENHANCEMENT OF SHUNT ACTIVE POWER FILTER USING A KALMAN FILTER-BASED 2629

Fig. 14. Test Case-4: Harmonics spectra of (a) phase-a load current, (b) phase-
a source current in proposed method, and (c) phase-a source current in existing
method.

Fig. 12. Test case-4: (a) Three phase supply voltages, (b) three phase load
currents, and (c) three phase compensating currents in proposed method.

Fig. 15. Test Case-5: Harmonics spectra of (a) phase-a load current, (b) phase-
a source current in proposed method, and (c) phase-a source current in existing
method.

TABLE III
HARMONICS COMPENSATION EFFECT (EXPERIMENTAL)
Fig. 13. Case-4: Waveforms of three phase source currents and dc-link
voltage, (i) proposed method, and (ii) existing method. THD% of Phase-a Source Current

Test Cases Methods Used in Before After Com- HCR (%)

SAPF Compensation pensation
supply current from 27.1% to 2.5% and 3.3% in the proposed and
Test Case-1 Proposed 25.9 2.2 8.49
existing PI- PIVPI method, respectively. Hence, an enhanced
Existing 25.9 3.0 11.58
performance of the proposed KF-H∞ algorithm over PI-PIVPI Test Case-2 Proposed 25.9 2.3 8.88
approach can be justified. Existing 25.9 3.2 12.35
TestCase-3 Proposed 27.1 2.5 9.22
4) Test Case 4: Unbalanced Supply Voltages-Dynamic Load
Existing 27.1 3.3 12.17
Condition: The unbalanced supply voltage with dynamic load Test Case-4 Proposed 26.7 2.6 9.73
condition in distributed power system may poorly affect the de- Existing 26.7 3.5 13.10
Test Case-5 Proposed 27.3 2.8 10.25
sired performance of the SAPF. To verify the effectiveness of
Existing 27.3 3.9 14.28
the proposed control technique under such condition [6], exper-
imentations have been carried out. The profiles for three phase
supply voltages and load currents are given in Fig. 12(a) and
(b). To create unbalance, three sensors are required for three 2.6%) as compared to existing PI-PIVPI (i.e., 3.5%), whereas
phases and phase-a voltage is reduced by 40 V as depicted the load current is distorted with a THD factor of 26.7%.
in Fig. 12(a). As a result, phase-a compensating current is in- 5) Test Case 5: Balanced Supply Voltages-Steady State Load
creased more to counteract the unbalance as shown in Fig. 12(c). (R–L–E) Condition: In this case, a diode bridge rectifier with
The wave shapes for the dc-link voltage and the compensated a resistive (R)-inductive (L)-dc voltage (E) load is taken as the
source current are analyzed in Fig. 13 considering both the pro- test load to study the compensation performance of the SAPF.
posed and existing technique. As shown in Fig. 13, the harmonic A dc voltage of 24 V is considered to be in series with R–
compensation performance of the SAPF is not deteriorated at L load. The harmonic spectra results (see Fig. 15) analyze a
unbalanced supply voltage along with load dynamic condition. superior performance of the proposed technique (THD = 2.8%)
The dc-link voltage gets stabilized within 0.12 s in case of exist- over existing PI-PIVPI (THD = 3.9%) when the load current is
ing technique whereas the proposed technique takes only 0.05 s highly distorted to 27.3%.
to set at the reference voltage. Also, the supply currents are The experimental results demonstrate that the current har-
observed to be balanced in both the proposed and existing tech- monics compensation effect of the proposed KF-H∞ -based
nique. But, a number of spikes are observed in case of existing SAPF is better as compared to the existing approach under
method. From THD factor analysis for phase-a source current steady state as well as dynamic conditions. Further, Table III
shown in Fig. 14, the proposed method has lower THD (i.e., evaluates the robustness performance of the proposed and
2630
existing control technique considering harmonics compensation
ratio (HCR) [6]. It can be analyzed from Table III that in case of
the proposed approach, HCR factors are unaffected by any per-
turbations occurring in load or source sides and are maintained
nearly the same. However, a large deviation of HCR (i.e., 3%) is
observed in case of existing method. From these observations,
it is envisaged that the proposed KF-H∞ -based SAPF provides
excellent robustness characteristics over PI-PIVPI through all
situations of power system perturbations.
VI. CONCLUSION
In this paper, a H∞ controller with a new reference current
estimation scheme based on KF has been proposed for a SAPF.
This reference generation scheme is simple yet reliable and self-
regulator of dc-link voltage without having a PI controller. Only
source current sensors are sufficient to determine the reference
current, which decreases the effective cost of SAPF implemen-
tation. Further, H∞ current controller is designed with a proper
selection of weighting functions to specify the robustness, con-
trol effort performance and error tracking performance of SAPF.
Finally, the effectiveness of the proposed KF-H∞ control strat-
egy was verified through various experimental tests, where the
proposed control strategy presented good steady state as well as
dynamic performance against supply or load variations.
Generally, power line uncertainties such as fluctuation of load,
variation of system parameter, sudden failure of power system
components and sensor nonlinearities degrade the reliability
and efficiency of the SAPF system. Moreover, grid perturba-
tions such as harmonics, measurement noise, and phase angle
jump are responsible for power quality deterioration. Hence,
the objective of designing a robust control strategy in SAPF is
achieved by accommodating all the possible perturbations oc-
curring in the power system. From the experimental results, it
is also observed that the proposed KF-H∞ control approach to
design a SAPF is found to be robust in face parametric uncer-
tainties due to grid perturbations yielding improvement in power
quality more effectively in terms of tracking error reduction and
efficient current harmonics mitigation.
REFERENCES
[1] O. Dordevic, M. Jones, and E. Levi, “Analytical formulas for phase voltage
RMS squared and THD in PWM multiphase systems,” IEEE Trans. Power
Electron., vol. 30, no. 3, pp. 1645–1656, Mar. 2015.
[2] A. F. Zobaa, “Optimal multiobjective design of hybrid active power filters
considering a distorted environment,” IEEE Trans. Ind. Electron., vol. 61,
no. 1, pp. 107–113, Jan. 2014.
[3] X. Hao, X. Yang, and T. Liu, “A sliding-mode controller with multires-
onant sliding surface for single-phase grid connected VSI with an LCL
filter,” IEEE Trans. Power Electron., vol. 28, no. 5, pp. 2259–2268, May
2013.
[4] Q. N. Trinh and H. H. Lee, “An advanced current control strategy for
three phase shunt active power filters,” IEEE Trans. Ind. Electron., vol. 60,
no. 12, pp. 5400–5410, Dec. 2013.
IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 32, NO. 4, APRIL 2017
[5] J. F. Petit, G. Robles, and H. Amaris, “Current reference control for shunt
active power filters under non sinusoidal voltage conditions,” IEEE Trans.
Power Del., vol. 22, no. 4, pp. 2254–2261, Oct. 2007.
[6] R. Panigrahi, B. Subudhi, and P. C. Panda, “A robust LQG servo control
strategy of shunt active power filter for power quality enhancement,” IEEE
Trans. Power Electron., vol. 31, no. 4, pp. 2860–2869, Apr. 2016.
[7] R. Cardoso, R. F. D. Camargo, and H. A. Grunling, “Kalman filter based
synchronization methods,” IET Gener., Transmis. Distrib., vol. 2, no. 4,
pp. 542–555, Jul. 2008.
[8] Y. W. Li, D. M. Vilathgamuwa, and F. Blaabjerg, “A robust control scheme
for medium voltage level DVR implementation,” IEEE Trans. Ind. Elec-
tron., vol. 54, no. 4, pp. 2249–2260, Aug. 2007.
[9] K. H. Kwan, Y. C. Chu, and P. L. So, “Model based H ∞ control of a
unified power quality conditioner,” IEEE Trans. Ind. Electron., vol. 56,
no. 7, pp. 2493–2504, Jul. 2009.
[10] T. Hornik and Q. C. Zhong, “A current control strategy for voltage source
inverters in microgrids based on H ∞ and repetitive control,” IEEE Trans.
Power Electron., vol. 26, no. 3, pp. 943–952, Mar. 2011.
[11] R. Naim, G. Weiss, and S. B. Yaakov, “H ∞ control applied to boost power
converters,” IEEE Trans. Power Electron., vol. 12, no. 4, pp. 677–683, Jul.
1997.
[12] T. S. Lee, S. J. Chiang, and J. M. Chang, “H ∞ loop shaping controller
designs for the single phase UPS inverters,” IEEE Trans. Power Electron.,
vol. 16, no. 4, pp. 473–481, Jul. 2001.
[13] K. Zhou and J. C. Doyle, Essentials of Robust Control, 1st ed. LA, USA:
Prentice-Hall, 1997.
[14] Y. Han, M. Luo, and L. Xu, “Comparative performance evaluation of
orthogonal-signal-generators-based single-phase PLL algorithms—A sur-
vey,” IEEE Trans. Power Electron., vol. 31, no. 5, pp. 3932–3944, May
2016.
[15] L. H. Tey, P. L. So, and Y. C. Chu, “Improvement of power quality
using adaptive shunt active filter,” IEEE Trans. Power Del., vol. 20, no. 2,
pp. 1558–1568, Apr. 2005.
[16] W. H. A. Schilders, H. V. Vorst, and J. Rommes, Model Order Reduction:
Theory, Research Aspects and Application. The Netherlands: Springer,
2008.
Rakhee Panigrahi received the B.E. degree in elec-
trical engineering from the University College of
Engineering, Burla, Odisha, India, in 2002, and the
M.Tech and Ph.D. degrees in electrical engineering
from the National Institute of Technology, Rourkela,
India, in 2009 and 2015, respectively.
Her research interests include estimation tech-
niques with application to power quality.
Bidyadhar Subudhi (M’08–SM’08) received the
bachelor’s degree in electrical engineering from the
National Institute of Technology (NIT), Rourkela,
India, the M.Tech. degree in control and instrumen-
tation from the Indian Institute of Technology, Delhi,
India, in 1988 and 1994, respectively, and the Ph.D.
degree in control system engineering from the Uni-
versity of Sheffield, Sheffield, U.K., in 2003.
He is currently a Professor in the Department of
Electrical Engineering, NIT, Rourkela. He is a Fel-
low of IET. His research interests include system &
control, active power filtering, and photovoltaic power system control.