5th IFAC International Workshop on Periodic Control ThS6T1.

1
Systems, University of Caen Basse-Normandie, Caen,
France, July 3-5, 2013

Adaptive nonlinear control of three-phase shunt active power filters

A. Ait Chihab*, H. Ouadi*, F.Giri**

* PMMAT Lab, University Hassan II, faculty of science, Casablanca, Morocco

** GREYC Lab, UMR CNRS, University of Caen, Caen, France
(Corresponding author: hamidouadi3@yahoo.fr)

Abstract: The problem of controlling three-phase shunt active power filters (SAPF) is addressed in

modeled, in the ( , ) coordinate frame, by a third-order nonlinear state-space representation. The control
presence of nonlinear loads supplied with three-phase power grids. The SAPF-load system is shown to be

objective is twofold: (i) compensating for the current harmonics and the reactive power absorbed by the
nonlinear load; (ii) regulating the inverter DC capacitor voltage. To this end, a nonlinear adaptive
controller is developed, using the Backstepping design, on the basis of the averaged system model. The
controller is made adaptive to compensate for the uncertainty that prevails on the unknown SAPF
switching loss power. The average performances of the adaptive controller are formally analyzed using
system averaging theory. The theoretical results are confirmed by numerical simulations.

Keywords: three-phase active power filters, current harmonics, reactive power, Backstepping design,
power loss estimation, average performance analysis.

1. INTRODUCTION regulating the DC voltage of the energy storage capacitor,

Power grids and distribution networks are expected to
provide with electrical power a wide variety of loads
ranching from single AC motors (e.g. in electrical traction) to
much more complex plants involving several types of
machines and equipments organized in smaller size subgrids.
As a matter of fact, these loads (whatever their size) present
nonlinear dynamics causing the generation of higher order
harmonics and the consuming reactive powers. If not
appropriately compensated for, these current harmonics and
reactive power result in several harmful effects e.g. distortion
of the voltage waveform at the point of common coupling
(PCC) and overheating of transformers and distribution lines.
Moreover, the disturbing effect of current harmonics may go
beyond the PCC and reach other loads and electronic
equipments connected to the net, causing boosted ageing of
those loads and making harder the synchronization with the
network voltage in applications requiring such
synchronization.
The modern solution to cope with harmonics pollution is to
implement active power filters (APF). Indeed, compared to
conventional passive filters, APFs feature a higher flexibility,
a better filtering capability and a smaller physical size. There
are various APF configurations but the most widely
implemented in industrial scale products are the shunt
configurations (El Habrouk et al., 2000). The principle of
shunt active power filters (SAPF) consists in injecting at the
PCC a current that cancels all harmonics and reactive
currents generated by the disturbing loads. Doing so, the
harmonics and reactive currents are constrained to circulate
within a loop including only the load and the SAPF i.e. the
distribution network is not a part of that loop which prevents
it from harmonic pollution. In addition to this energy quality
objective, there is an operational requirement that consists in
placed next to the SAPF inverter. This DC voltage regulation
loop control is necessary for the SAPF to work conveniently.
The achievement of the above two requirement, i.e. energy
quality and DC voltage regulation, is made difficult by the
controlled system nonlinearity, on the one hand, and by the
fact that all system parameters may be unknown. In
particular, the SAPF power loss is unknown and this
uncertainty must be coped with in the control strategy.
Over the last decade, a great deal of interest has been devoted
to the problem of controlling energy systems involving
SAPFs. But, most previous works have been devoted to the
simpler case of single-phase SAPFs (e.g. Etxeberria-Otadui et
al., 2006; Komurcugil , 2006, Matas et al., 2008).
The point is that single-phase SAPFs are only useful in low
power applications. The problem of controlling power
systems that involves three-phase SAPFs has been dealt with
using three categories of methods. The first category includes
methods using hysteresis operators or fuzzy logics. These
methods do not make use of the exact nonlinear SAPF model
in the control design. Consequently, the obtained controllers
are generally not backed by formal stability analysis and their
performances are illustrated by simulations. The second
category of methods is limited to linear controllers (e.g.
Pericle Zanchetta, et al., 2009; Figueroa, D. et al., 2010;
Yuan, X. et al., 2002). As a matter of fact, optimal
performances are not guaranteed with linear controllers, on a
wide range variation of the operation point, due to the
nonlinear nature of the controlled system entails. The third
category of methods includes nonlinear controllers, designed
on the basis of the system accurate nonlinear models. The
control design techniques used included passivity approach
(e.g. Escobar et al., 2004), Lyapunov design (e.g Rahmani et
al., 2012). However, the proposed nonlinear controllers only

125
consisted to current loops, designed to meet the current
harmonic compensation requirement. Without a voltage
regulation loop in the controller, the DC voltage regulation
objective cannot be achieved in general operation conditions.
One more limitation of the above nonlinear controllers is that
the switching losses in the inverter are neglected in the
control design model. In real-life systems, these losses can
hardly be ignored as they act on the DC bus voltage.
The SAPF function is to produce reactive and harmonic
components to compensate undesirable current harmonics
produced by the nonlinear load. The DC-AC inverter operates
in accordance to the well known Pulse Width Modulation
principle (PWM), (Krein et al., 1990; Tse and chow 2000).
The following notations are used for the development of this
model:

, ,
In this paper, the focus is made on the control of energy Notations Designation

, ,
systems that involve three-phase SAPFs and nonlinear loads. : PCC network voltage

, ,
A new control strategy is developed to simultaneously meet : PCC network currents

, ,
the previously discussed control requirements i.e. a : AC inverter voltages.
satisfactory compensation of harmonic and reactive currents
4 , 4 , 4
: AC inverter currents.
absorbed by the nonlinear three-phase load and a tight
5, 6
: Load current.
regulation of the inverter DC capacitor voltage. To this end, a
45 , 46
: PCC Voltage in α-β coordinates.
two-loop cascade nonlinear controller is developed using the

5, 6
: Load current in α-β coordinates.
Backstepping and other Lyapunov-like techniques. The inner
7 5 88888
8888, 76
: Output filter current in α-β coordinates.
loop involves a current regulator designed to cope with
harmonics compensation. The outer-loop involves a voltage : Fundamental AC inverter current

795 , 796
regulator that aims at regulating the DC line voltage. component (coordinates α-β)
Furthermore, the controller is provided with a parameter : Harmonics AC inverter current

: ,: ,:
adaptation capability to cope with the uncertainty that component (coordinates α-β)

:5 , :6
prevails on the switching losses in the inverter. It is formally : PWM inverter control voltage
shown using tools from the Lyapunov stability and system : PWM inverter control α-β voltage
averaging theory that, all control objectives are actually : DC bus voltage
achieved in the mean. This theoretical result is confirmed by : Decoupling filter induction.
numerical simulations which illustrate further controller : Decoupling filter resistor
features. : DC bus capacitor.

-*
: Leak resistance.
The paper is organized as follows: the control problem : Inverter switches.
formulation, including the SAPF modeling, is described in
Section 2; the harmonic and reactive load currents extraction Applying the usual electric laws to the three-phase shunt APF
and the adaptive nonlinear controller design is dealt with in one easily gets:
section 3; The theoretical analysis results are confirmed by
1
simulation in Section 4. A conclusion and a references list
end the paper.

2-MODELING OF THREE-PHASES SAPF

On the other hand, we recall that the output voltages and
The three phases SAPF under study has the structure of Fig 1. output currents of the DC-AC inverter are given by (e.g.Krein
It consists of a three-phase full-bridge inverter and an energy et al (1990)):

2 1 1 !
storage capacitor , placed at the DC side. From the AC

inductor ( , ) for reducing the circulation of the harmonics 1 2 1 !

side, the SAPF is connected to the network through a filtering

1 1 2 !
(2)
currents due to the inverter switching.

&! ! ! ' 3
; 4 #$
% (
Power
network "

Where the inverter switching functions !* (i =a, b or c) are

Nonlinear load.

defined by:
, 1 , -*$ . /0 ; -*% . /22 3
!* +
1 , -*$ . /22 ; -*% . /0
<
Substituting (3) into (2) and by applying the Concordia
transformation, the filter equations in α-β coordinate
becomes:

Fig 1: Three-phase shunt power active filter structure.

126
 #(@ !5 8888
75 795
> ? > ? B! C B C 4
5
> ? > ? > ?
5 5 $ $ 5
= 6 A@ 6 %A@ 6 A@ 6 6 76
8888 796
(14)

!5 !6 5
$
= %E 5 6 ( By introducing (14) into (13), the third state equation
becomes:

75
8888 795
The model (4-5) is useful for building up an accurate
T
G\ K Q > ? Q 5 6R6R > ? L (15)
simulator of the SAPF. However, it cannot be based upon in
76
8888 796
5
(UV
namely :5 , :6 . This kind of difficulty is generally coped
the control design as it involves a binary control input,
On the other hand, in practice state variable GK present a very
with by resorting to average models. Signal averaging is
components (795 ) and (796 ). Indeed, the latter are varying at
slow dynamic (associated to the DC bus) then the AC current
performed over cutting intervals (e.g. Krein et al., 1990).

The obtained average model is the following: harmonics load current frequency. Consequently, the control

G$ G$ :5
design is based on the average model, obtained from (15)
#(@
BG C BG C B: C B C
$ $ 5
795
letting there:
]Q 5 6R > ? ^ 0
= % A@ % %A@ 6 A@ 6
(6a)
796
:5 G$ :6 G% 6b
H $
= %E (
It turns out that the average model is given by:
T
G\ K 5 8888
75 6 8888
76 L
Where G$ , G% , , :5 and :6 denote the average values,
(UV
(16)

, :5 and :6 .
By regrouping equations (6) and (16), we construct the
over cutting periods, of the signals 5 , 6 , average state model of the parallel active filter:

:5 , :6 of :5 , :6 turns out to be the system control input. G\ G$ :5

The system (6) is clearly nonlinear and the mean value
#(@
> $? BG C B: C B C
$ Z[ $ 5
G\ % A@ A@
_%E 6 A@ 6
%
(17)
To achieve the DC voltage bus control, the third state
G\ K 5 8888
75 6 8888
76 L
%Z[

of the capacitor energy stored: GK

variable considered is the mean value (over cutting periods)
$ E (
(18)
%
² . Then, to

L *4=MN involved in the filter:

determine the third state equation, consider the total power 3. THREE-PHASE SAPF CONTROL DESIGN

L *4=MN L L( L( L
3.1 Load current decomposition
O (7) The decomposition of the load current aims at emphasizing
Where L , L( , L( and L O respectively denote the
the current harmonics, on one hand, and the active and the
reactive currents, on the other hand. This decomposition is
switching inverter losses (considered unknown), the Joule needed to formulate the control objectives and design the
effect losses power in PE leakage resistance, the Joule effect controller. Presently, the decomposition is performed using
losses power in the resistance, and the transmitted the so-called instantaneous power technique, which enjoys a
electrical network power in order to maintain the charge of good compromise between accuracy and computational
the DC bus capacitor. With: complexity. (Akagi et al., 1984). The principle of this
technique is illustrated by Fig. 2. Accordingly, the active and
L *4=MN Q 6R > ? 8
5
5 5 5 6 6
the reactive load powers can both be decomposed, when the
6 load currents include harmonics, in a continuous component
T
and a varying component, i.e.
L(
(UV
L8 L̀
(9)
L > ? > ?B C
45 5 6
L( Q 5 6R >
5
? % %
10 a8 ab 46 6 5
(19)
5 6
6

L X Y
$ % Z[
O
+
= % = 5
L̀
(11) a.b.c
;
- c
5
L8
P
To LPF
Introducing (8)-(11) in (7), one obtains:
T 6
G\ K & 5 5 6 6' & %
5
%
6' L
α.β

(UV
Active/reactive
(12) Current

Power
Or using (1), the equation (12) becomes: References

45
T c
a.b.c

G\ K & 6' L
Computation
+ Generation

ab
4 6
5 5 6 (UV
(13) To
q -
a8
46
α.β
LPF
Furthermore, by respecting the notations presented in table I,
the ac filter currents and voltages verify:
Fig. 2. Current reference extraction using the instantaneous
active and reactive power technique.

127
Solving the equation (19) with respect to the currents, and as small as possible. To this end, the dynamics of these errors
rearranging terms, one gets the following decomposition: needs to be determined. It follows, using the model equations
8 0 L̀
C >L ? 20
(17-18), that the errors undergo the following equations:
> ? B B C> ? B C> ?
45 $ 5 6 $ 5 6 $ 5 6
effffgffffh
∆ 6 5 0 ∆ 6 5 a8
effffgffffh ∆ 6 5 ab
effffgffffh o\ #(@ G$ :5 G\ c
> $? BG C B: C B C > $c ?
46
$ Z[ $ 5
=* ijkilMl= NM =* ijkilMl= m Njil* ijkilMl=
o\% A@ A@
_%E 6 A@ 6 G\ %
%
(22)

With ∆ 5
%
6
%

equilibrium o$ , o% 0,0 , equation (24) suggests that the

To ensure the asymptotic stability of the

control inputs (:5 , :6 ) should be chosen so that:

The current references are given by:
L̀ 6 0
c
> c? B C> ? B C> ? :5
$ 5 6 $ 5
#(@ G$ p$ o$
5
a8 G\ c
∆ 6 5 ab
effffgffffh effffgffffh
∆ 6 5 B C
$
_
Z[
B: C
$
B C > $c ?
5
Bp o C (23)
A@ G% G\ %
6
A@ %E 6 A @ 6 % %
m Njil* ijkilMl= NM =* ijkilMl=
Solving this with respect to (:5 , :6 ) yields the following
3.2 Control objective reformulation
:5 G$ G\ c p$ o$
control law, which defines the inner regulator:
B: C _ q BG C B C > $c ? Bp o C r
%E 5
G\ %
We seek the achievement of the two following control
6 Z[ % 6 % %
(24)
objectives:
Combining equations (24) and (22) one gets the following
− Controlling the filter current ( 5 and 6 ) so that the load
o\ p$ o$
equations describing the inner closed loop:
> $? Bp o C
o\%
current harmonics and the load reactive currents are well
compensated for. % %

o$ o$ 0 s # t = , o% o% 0 s # T =
− Regulating the DC bus voltage (< ) to maintain the It readily follows that:
capacitor charge at a suitable level so that the filter (24a)
operates properly.
This shows that the errors are globally exponentially
vanishing, that is the objective of canceling the load current
variables that need to be controlled (i.e. 5 , 6 and < ),
One difficulty with the problem at hand is that, there are three
harmonics and load current reactive component is well
while one only has two control inputs (i.e. (:5 and :6 )). This
established.
is coped with by considering a cascade control strategy
3.4 Outer control loop design
involving two loops (Fig. 3). The outer control loop aims is

generated by the outer loop regulator, denoted 78888,

5 78888
designed to regulate the DC bus voltage. The control signals
oK GK GKc
The outer loop aims at making the voltage tracking error,
6 , serve
as the desired fundamental components of the output current as small as possible, where GKc is the reference value of the
filter. These components are augmented with the (load
are assumed to be known and bounded. Deriving oK with
DC bus voltage. These together with its first time-derivative
denoted c5 , c6 , to constitute the final AC current references
current) harmonic and reactive components, next

5 NM , 6 NM , G$ and G% . Accordingly, one has from (20)

c c
o\K 5 8888
75 6 8888
76 L G\ Kc
respect to time gives, using (18):
%Z[
E (
(25)
Gc L̀ 5 6 5 0 6 8888
75
> $c ? > ?> ? > ?> ? > ?
$ $ The switching-loss power (L ) is seen as an unknown
G% ∆ ff
ef 6ffgff ab
5fffh effffgffffh
∆ 6 5 a8 n78888
6
(21) parameter in (25). Indeed, the latter is mainly depending on
m Njil* ijkilMl= NM =* ijkilMl= O ijkilMl= the load which presently is assumed to undergo a piecewise

5 8888
75 6 8888
7 6 stands in
The signal flow involved in the proposed control strategy is constant variation.
illustrated by Fig. 3. On the other hand, the quantity

other than the electric network power, denoted LlM= ,

(25) as a virtual control. Interestingly, this quantity is nothing
Power N.L Load
grid net

balance equation (19) shows that LlM= equals:

transmitted to control the voltage DC bus. Indeed, the power

8888
75
LlM= Q 5 6R > ? 5 8888
75 6 8888
76
Control signal

8888
76
Current Active
regulator filter (26)
& ' &7888888'
5,6
5,6 NM
In order to obtain a stabilizing control law of the error system
Voltage
(25), let us introduce the following LYAPUNOV function
& 5c , 6c '
+ regulator
candidate:
u[T
< L̀ %
+ $
% %v
Where Lw denotes the online estimate of L
Fig. 3. Synoptic scheme of the cascade control strategy

L̀ L w
L is the corresponding estimation error; γ is a
and
3.3 Inner control loop design
The inner loop is designed to make the current tracking positive design parameter. Deriving V along (25) yields:

o$ G$ G$c
errors,

o% G% G%c

128
<\ oK XLlM= L G\ Kc Y L̀ L̀ \
%Z[ $ Table 3 are retained.
E ( v
(27)
<\ oK XLlM= Lw G\ Kc Y L̀ X Lw \ oK Y
%Z[ $
E ( v
(28) TABLE 2. SHUNT APF CHARACTERISTICS
Equation (28) suggests the following control law:
PARAMETERS VALUES
LlM= pK oK Lw G\ Kc
%Z[
E (
(29) Lf 0,22 H.
Power active filter
Cdc 1000 µF.
and the following parameter adaptation law: Rf 0,2 Ω.

Lw\
L 10 mH.
xoK (30) Rectifier-Load R 100 Ω

Now, as LlM= is a virtual control input, we make use of

LPF order 2
Cut 218rd/s
equation (26) to obtain: frequency
78888 L
> ? B C B lM= C
5 $ 5 6
8888
76 T
@y z @{
T 6 5 0
(31) TABLE 3. CONTROLLER PARAMETERS

8888
75
Substituting (29) into (31) one finds the following expression c1 5.103
references> ?:
Current regulator
76
8888
of the fundamental current 5.103 c2

5 X pK oK
%Z[
}
P~• G\ K Y
c
78888
Voltage regulator 100 c3

> ?
5 $ E (
8888
76
10

6 X pK oK
%Z[
}~• G\ Kc Y
P
T T
@y z @{
(32)
The whole simulated control system is illustrated by Fig.
E ( 4.Figures 5 and 6 show the shape of the load current
The adaptive outer regulator thus designed includes the (respectively in temporal and frequency domains). It is
parameter adaptation law (30) and the control law (32). Its readily seen that the load current is actually rich in harmonics
performances are described in the following theorem. components.

Theorem 1. Consider the outer loop constituted of the error

; 4
N.L
Power Grid
system defined by equation (25) and the adaptive controller LOAD

oK and the parameter estimation error L̀ both converge to

defined by (29) and (32). Then, the DC voltage tracking error
56 a-b-c to
zero. α-β
Proof. For space limitation, the proof has been removed. It
can be provided upon request. < %c
< % NM
+
DC SAPF

and (32) involve a division by GK and oK

Remark 1. Although the (inner and outer) control laws (24)
% %
control
5 6 ,
-
(32)
respectively, this entails no singularity in practice. Indeed, the
756
8888
active filter cannot work if these quantities are zero. In other µ
+
words, the latter are nonzero as long as the active filter is 56
α-β to
carrying non-identically null currents. - PWM
c
56
+
µ56
4-SIMULATION AND DISCUSSION OF RESULTS
o$,%
Current Backstepping
The simulations are performed on MATLAB / SIMULINK ref controller
(20) (24)
environment. The three-phase network is modeled by three-
c
phase sinusoidal voltages connected to a nonlinear load. The 4
latter is represented by an AC-DC three-phase inverter Fig. 4. Signals flow in the proposed control strategy.
associated with a RL load. The SAPF is simulated on basis of
the average model. The numerical values of the load and the 15 3

active filter are described by Table 2. 10 2.5

5 2
load current in A
load current in A

The inner and the outer regulators are implemented using 0 1.5

equations (24) and (30,32), respectively, and the -5 1

corresponding design parameters are given the following 0.5

-10
numerical values of Table 3, which proved to be convenient.
0
In this respect, that there is no systematic way, especially in -15
0.5 0.51 0.52 0.53 0.54 0.55 0.56
time in s
0.57 0.58 0.59 0.6
0 200 400 600
frequency in HZ
800 1000 1200

nonlinear control, to make suitable choices for these values. Fig 5: Load current in time domain. Fig 6: Load current frequency
Therefore, the usual practice consists in proceeding with trial- spectrum
error approach. Doing so, the numerical values of

129
 Akagi, H., Y.Kanazawa, and A.Nabae, (1984)
The resulting controller performances are illustrated by Figs. "Instantaneous reactive power compensators comprising
7 to 10. Figs. 7 shows that the AC three-phases filter currents switching devices without energy storage components,"
track well their references, confirming the results of IEEE Trans. Industry Applications, vol. 20(3), pp. 625-
subsection 3.3 (equation (24a)). The resulting network line 630.
current is plotted in Fig. 8 which shows that this current is Dass, M.A., A.Peer Fathima, (2011), “To limit the fault
clearly clean of harmonics, unlike the load current. This is current using unified power quality conditioner” Journal
better illustrated by Fig. 9 which shows the spectra of the of engineering research and studies. E-ISSN0976-7916.
load and net currents. It is seen that the net current is mainly JERS/Vol.II/ Issue IV.
constituted by a single component, situated in 50Hz. The El-Habrouk, M., M. K. Darwish, and P. Mehta, (2000).
higher frequency harmonics have well been suppressed, “Active Power Filters: A Review”, IEEE Proc. Electric
thanks to the three-phase SAPF and associated nonlinear Power Applications. vol. 147, pp. 403-413.
adaptive controller. Similarly, the output voltage Etxeberria-Otadui, I., A.L.de Heredia, H.Gaztanaga,
converges, in the mean, to its reference value with a good S.Bacha, Reyero, M.R. “A single synchronous frame
accuracy (Fig. 10). hybrid (SSFH) multifrequency controller for power
15
active filters,” IEEE Trans. Ind. Appl., vol. 53, no. 5, pp.
harmonique current load

10
current filter injected
1640–1648, Oct. 2006.
5
Escobar, G., A.M. Stankovic, and P.Mattavelli, (2004)“An
adaptive controller in stationary reference frame for D-
nt inA

0
rre

statcom in unbalance operation,”IEEE Trans. Ind.

cu

-5

Electron., vol. 51, no. 2, pp. 401–409

-10

Figueroa, D., L. Morán, G. Joos, and J. Dixon, (2010)

-15
“Series active compensation of current harmonics
Fig 7: Inner loop performances. α-component of the AC three-phase filter
0.5 0.51 0.52 0.53 0.54 0.55 0.56 0.57 0.58 0.59 0.6
time in s

generated by high power rectifiers” International

current (Solid) and its reference ( 5NM ) (dotted). Conference on Renewable Energies and Power Quality
15 3
(ICREPQ’10) Granada (Spain), 23rd
10 2.5 Izzeldin, I.A., K.S.R. Rao, and N.Perumal,(2010)
5 2 “Harmonics mitigation and power factor correction with
network current in A

network current in A

0
1.5 a modern three-phase four-leg shunt active power filter”
-5
1
IEEE international conference on power and energy
-10
0.5
(PECON2010) Kuala, lumpur, Malaysia.
-15
0.5 0.51 0.52 0.53 0.54 0.55 0.56 0.57 0.58 0.59 0.6
Komurcugil, H. (2006) “A new control strategy for single-
0
time in s 0 200 400 600
frequency in HZ
800 1000 1200
phase shunt active power filters using a Lyapunov
function”, IEEE Trans. on Industrial Electronics, vol. 53,
Fig 8. Network current in Fig 9: network current in pp. 305 – 312.
time domain frequency domain
4
Krein P.T., J. Bentsman, R.M. Bass, and B. Lesieutre
3.5 (1990). ‘On the use of averaging for analysis of power
3
electronic system’. IEEE Trans. Power Electronics, vol.
2.5

5, pp. 182-190.
yinvs
2

2
erg

Matas J., L.G.De Vicuna, J.Miret, J.M.Guerrero, and

n
e

1.5

1 x3 ref
x3 M.Castilla, (2008). “Feedback linearizations of a single-
0.5

0
0 0.2 0.4 0.6 0.8 1
phase active power filter via sliding mode control” IEEE
time in s
Trans. Power Electronics, vol. 23, pp. 116-125.
Fig 10: Outer-loop tracking performances: DC voltage (dotted) and its Rahmani, S., A.Hamadi, and K.Al-Haddad, (2012) ‘A
reference (solid)
Lyapunov-Function-Based Control for a Three-Phase
5. CONCLUSION Shunt Hybrid Active Filter’ IEEE Transactions On
Industrial Electronics, Vol. 59, No. 3, pages:1418-1429
A nonlinear control strategy is proposed for three-phase shunt Tse, C. K. and M. H. L. Chow (2000). “Theoretical study of
active power filters. The aim is to achieve current harmonics switching converters with power factor correction and
and reactive power compensation, in presence of nonlinear, output regulation”. IEEE Trans. Circuits & Systems I,
as well as tight voltage regulation at the inverter output vol. 47, pp. 1047–55.
capacitor. To this end, a nonlinear controller is developed and Yuan, X., W. Merk, H. Stemmler, and J.Allmeling, (2002)
analyzed making use of advanced tools from the control “Stationary-frame generalized integrators for current
theory e.g. Backstepping control design, system averaging control for active power filters with zero steady-stable
theory. It is formally established that the control objectives error for current harmonics of concern under unbalanced
are actually achieved in average with a quite satisfactory and distorted operating conditions,” IEEE Trans. Ind.
accuracy. The formal results are confirmed by simulations. Appl., vol. 38, no. 2, pp. 523–532.
Zanchetta P., M., Sumner, M., Marinelli, F., Cupertino (2009)
REFERENCES: “Experimental modeling and control design of shunt
active power filters” Control Engineering Practice 17
(2009) 1126–1135.

130