12th IEEE Workshop on Variable Structure Systems,

VSS’12, January 12-14, Mumbai, 2012

Performance Analysis of Shunt Active Power Filter Using Sliding Mode

Control Strategies
Dr. Vitthal S. Bandal, Priti N. Madurwar

Abstract— This paper presents a three-phase four-wire shunt potentially damaging to both the neutral conductor and the
active power filter design using two different control strategies. transformer to which it is connected. Three-phase three-wire
The control techniques analyzed and compared are: sliding active power filters cannot adequately reduce or eliminate
mode control (SMC) and proportional-integral control (PI).
Current harmonic compensation is achieved by implementation line harmonics in this situation [2].
of a Instantaneous Reactive Power Theory for three phase In recent years, three-phase four-wire shunt active power
system. The simulation results with and without the shunt active filters have appeared as an effective method to solve the
power filter in the system are presented and analyzed. The problem of harmonics, unbalanced load currents together
simulation results show that the SMC controller has a better with reactive power compensation. Active power filters are
performance than PI, allowing compensation of reactive power,
neutral current, load unbalance and reducing the harmonic connected to AC mains in order to eliminate voltage varia-
level below the limit specified in IEEE-519 standard tions and harmonic components. Shunt active power filter
Index Terms— Sliding Mode Control, Active filter, Reactive eliminates the current harmonic components working as
power theory a source with only the harmonic components and power
factor correction, so that only the fundamental component
I. INTRODUCTION is supplied in the AC mains. In active power filters there are
In recent years, the rapid development of power semi- many control strategies which have been studied in order to
conductor technology and the extensive use of electronic obtain a good performance.
equipments, industrial machines and automation devices in This paper presents a comparison between different con-
industries, commerce and households, have led to a signif- trol strategies applied to a shunt active power filter: sliding
icant increase in disturbances, which affect power quality mode control (SMC) and proportional-integral control (PI).
in transmission and distribution systems. Customers as well The sliding mode control has been widely applied to power
as power transmission and distribution companies are in- converters due to its operation characteristics such as fast
creasingly interested in energy efficiency and power quality response, high robustness, and stability under large load
problems. This interest is mainly due to the technical and variations. In several SMC approaches applied to active
economic losses produced by a poor power quality, which filters [3],[4], a simple SMC approach is used, sensing only
affect both supply-side and demand-side. the inductor current and adding an extra loop which contains
Therefore, there is the need to develop and implement so- a PI compensator in order to regulate the capacitor voltage.
lutions to improve energy efficiency and provide an adequate In this paper a different SMC approach is used: the loop
power quality in electrical power systems. Conventionally for the capacitor voltage regulation is introduced into the
passive L-C filters were employed to reduce harmonics and SMC strategy. Analysis and modeling of the active power
capacitors were used to improve the power factor of the filter are presented, as well as simulation results, which show
loads. But passive filters have the demerits of fixed com- interesting differences between the controls strategies are
pensation, large size and resonance. The increased severity analyzed.
of harmonic pollution in power distribution network has The active filter topology used in the present work is
attracted the attention to develop dynamic and adjustable shown in Fig. 1. The system can be modeled as a set of three
solutions to the power quality problems giving rise to active current sources that only supply the harmonic components
filter [1]. for every phase.
In many commercial and industrial installations power is II. ACTIVE FILTER MODEL AND CONTROL
distributed through a three-phase four wire system. This type STRUCTURES
of system has unique problems. If nonlinear single-phase
A. Reference Current Generation
loads are present, or the three-phase load is unbalanced,
the line currents are unbalanced and neutral currents flow. The reference current for the different controls analyzed
These neutral currents contain both fundamental and har- is obtained using instantaneous reactive power theory. The
monic components. In extreme cases, the neutral currents are p-q theory formally known as The Generalized Theory of
the Instantaneous Reactive Power in Three-Phase Circuit was
Dr. Vitthal S. Bandal is with Faculty of Electrical Engineering, College first developed by H. Akagi in 1983 [5]. It is based on instan-
of Engineering Pune, India. [email protected] taneous values in three phase systems with or without neutral
Priti N. Madurwar is postgraduate student in Control Students from
Department of Electrical Engineering, College of Engineering Pune, India. wire, and is valid for steady state or transitory operations,
[email protected] as well as for generic voltage and current waveforms. Fig.

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 12th IEEE Workshop on Variable Structure Systems,
VSS’12, January 12-14, Mumbai, 2012

harmonic currents as reference currents for the system:

 1 
∗  r √ 1 0  −1  
ica 2 √  v0 0 0 p0
 i∗  = 2  √1 − 1
 3 
cb 2 2√  0 vα vβ
  pc 
∗ 3  12
icc √ −1 − 3 0 −vβ vα qc
2 2 2
(4)
Where pc the negative ac component of p obtained through
a digital filtering is qc is the negative of q, and p0 is the
zero sequence components. The physical meaning and the
reason for the naming of the instantaneous active and reactive
currents are explained in [5]. Every phase current reference
is for every control phase, and they are used in all the control
Fig. 1. Shunt Active Power Filter Topology
structures analyzed.
B. Proportional-Integral Controller
2 shows the block diagram. The PI voltage is used only In this case power stage is controlled through two con-
for PI controller. The instantaneous reactive power theory trollers. A fast inner loop is used to control the shape of
consists of an algebraic transformation known as a Clarke the line currents (Hysteresis current controller), and an outer
transformation of three phase input voltages and the load loop regulates the average capacitor voltage (PI controller).
harmonic currents in the a−b−c coordinates to the α − β −0 Fig 3 shows the control system. The inner current control
reference frame followed by the calculation of the real and
reactive instantaneous power components.

Fig. 3. Proportional-Integral system

Fig. 2. Block Diagram for calculating current references

loop is based on hysteresis controller. Hysteresis current
control is a method of controlling a voltage source inverter so
that an output current is generated which follows a reference
 r  √1   current waveform. This method controls the switches in
√1 √1

v0 2 2 2 va an inverter asynchronously to ramp the current through an
vα  = 2 
0 − 1 1
 vb
 
(1) inductor up and down so that it tracks a reference current sig-
3 √2 2√
vβ 0 3
− 23 vc nal. Hysteresis current control is the easiest control method to
2
implement. Figure 4 shows the block diagram of hysteresis
current controller. The aim of the control is to obtain the

  r  √1 √1 √1
 
i0 2 2 2 ia
iα  = 2 
0 − 1 1
 ib
 
(2)
3 √2 2√
iβ 0 3
− 23 ic
2

    
p0 v0 0 0 i0
 p=0 vα vβ  iα  (3) Fig. 4. Block diagram of hysteresis current controller
q 0 −vβ vα iβ
switching signals from the comparison between the current
error and a fixed tolerance band. If the mismatch between the
The inverse transformation of equation (3) gives three-phase actual and Reference current is positive, the inverter voltage

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 12th IEEE Workshop on Variable Structure Systems,
VSS’12, January 12-14, Mumbai, 2012

output must be positive and if the mismatch is negative, the differential equations:
inverter voltage output must be negative [6].
dick 1 1
Lc = −rc ick + uk (Vc1 +Vc2 ) + (Vc1 −Vc2 ) + ek (8)
C. Sliding Mode Controller dt 2 2
The sliding mode control (SMC) which is derived from the Where ek represent the main voltages at the point of common
theory of variable structure control, is a known discontinuous coupling. Finally, these equations are rearranged in matrix
control technique which takes in account the time varying form:
topology of the controlled system. Thus this technique is Ẋ = AX + B(X)u + e (9)
naturally suitable to control systems based on power elec-
tronic devices in general, and active filter as particular case Where,
of these systems. ¤T ¤T
X = ica , u = ua
£ £
The basic idea behind the sliding control is the specifica- icb icc VC1 VC2 ub uc ,
tion of a surface, which is known as the sliding surface, in
¤T
e = − Leac − Lebc − Lecc
£
such a way that the control feature is to maintain a system 0 0 ,
within the surface and hence, assuming a desired system
behavior. To establish the dynamic equations of the system, 
− Lrcc 0 0 1
− 2L1 c

2Lc
let suppose that the power switches Sk can be assumed ideals,  
then the output voltage for each phase k to neutral can be  
 0 − Lrcc 0 1
2Lc − 2L1 c 
expressed as follows: 



 
1 1 A= 0

0 − Lrcc 1
− 2L1 c  ,

vck = uck (Vc1 +Vc2 ) + (Vc1 −Vc2 ) (5) 2Lc
2 2 
 

 1 1 1
The DC bus voltages across the two capacitors, related to


 2C 2C 2C 0 0 
uk and the active filter currents ick is obtained by applying

 
Kirchhoff’s current law, as follows [7]: 1
− 2C 1
− 2C − 2C1
0 0
à !
(VC1 +VC2 )
 
dVC1 1 0 0
= ∑ uk ick + ∑ ick (6) 2Lc
dt 2C k=a,b,c k=a,b,c




 (VC1 +VC2 ) 
à !  0 2Lc 0 
dVC2 1  
= ∑ uk ick − ∑ ick (7)  
dt 2C k=a,b,c k=a,b,c B(X) = 

(VC1 +VC2 ) 

 0 0 2Lc 
 
 
 ica icb icc 
2C 2C 2C
 
 
 
ica icb icc
− 2C − 2C − 2C

For the controller design, the sliding surface used is a linear

combination of the state variables and the control variables
[8]:
σ = S(X − X ∗ ) (10)

Where, X=State Variables

X∗ =Reference Variables

2 (1 + sgnva ) − 21 (1 − sgnva )
1
 
s1 0 0
 
Fig. 5. Circuit for shunt active power filter modeling
S= 2 (1 + sgnvb ) − 2 (1 − sgnvb )
 1 1

0 s2 0  (11)
From the Kirchhoff’s voltage law, the interaction between  
2 (1 + sgnvc ) − 2 (1 − sgnvc )
the voltage source inverter and grid is described by following 1 1
0 0 s3

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 12th IEEE Workshop on Variable Structure Systems,
VSS’12, January 12-14, Mumbai, 2012

TABLE I
The vector of the sliding surface co-ordinate functions is as
M AIN PARAMETERS OF THE S IMULATED C IRCUIT
below:
¤T Phase to neutral voltage source 230Vrms ,
σ = σa
£
σb σc (12) Frequency 50 Hz,
Source Resistance 0.1 mH
The next step in the design process is the selection of the Source Inductance Ls =0.5 mH
control law which is defined as: DC-link capacitors C1 =C2 =4400µ H
Set Value of capacitor voltage Vdc ∗ =750V

u = ueq + un (13) Inductor Filter Lc =3.35mH

¤T PI Controller P=0.78, I=28
where, u = ua ub uc ,
£
SMC Controller s1 , s2 , s3 =0.8
¤T
un = −sgnσa −sgnσb −sgnσc
£
¤T
ueq = ueq1 ueq2 ueq3
£
PI controller are shown in fig.7. Fig.8 shows the waveforms
In this control law a switching component un guarantees
for SMC controller. Fig.9 shows the frequency spectrum of
the existence of the sliding mode and the equivalent control
source current without SAPF. Fig.10 shows frequency spec-
component ueq is valid only on the sliding mode surface.
trum with SAPF employing both controllers. From frequency
The existence of the equivalent control is a necessary
spectrum, it is observed that current drawn by the load
condition for the existence of the sliding motion over the
contains positive sequence harmonics 6h+1 (7th, 13th....),
switching surface σ (X) = 0. For instance, suppose at t0 ,
negative sequence harmonics 6h-1 (5th, 11th....), and zero-
the state trajectory intercepts the switching line S, that is
sequence harmonics 6h+3 (3rd, 9th....). With h indicates the
σ0 = σ (X(t0 )) = 0. In order to keep the state variables on S,
harmonic order. Note that the zero-sequence harmonics is
the time derivative of σ evaluated along the trajectory must
the result of the 4thwire (neutral), this sequence does not
be zero. Hence
appears in the three wire systems. Frequency spectrum shows
σ̇ = S(Ẋ − X˙∗ ) = S(AX + B(X)u + e) − SẊ ∗ (14) that THD reduction obtained with SMC is better than PI
controller. Also time required for capacitor voltage to reach
when u = ueq , this gives steady state value is less in SMC than PI controller. (PI=200
ueq = −(SB(X))−1 S(AX +C − Ẋ ∗ ) (15) ms and SMC=150 ms).

Provided that SB(X) is non-singular.

III. SIMULATION RESULTS
Nonlinear simulations are carried out to investigate the
performance of the shunt active filter for the compensation
of harmonics, reactive power and neutral current in three
phase four wire systems. Simulation results are presented
for balanced and unbalanced nonlinear loads. A model is
developed using MATLAB and its tool POWER SYSTEM
BLOCKSET and SIMULINK. The load is a three single
phase diode bridge rectifier with R-L load. The simulation is
carried out for balanced as well as unbalanced load condition.
Simulation parameters selected in circuit of three-phase,
four-wire shunt active power filter are given in Table 1.
A. Balanced Load Condition
Generally diode rectifiers are used to feed loads with
large inductance such as DC motors. Therefore simulation
is performed using diode rectifiers with RL element on its (c)
DC side (R=15ohm,L=60H) as nonlinear load. Fig.6 shows
waveforms for source voltage, load current, neutral current Fig. 6. Source Voltage, Load current and neutral current in phase ’a’
without SAPF for balanced load
without SAPF. As a three phase balanced load is considered,
only phase ’A’ waveforms are shown here. Waveforms for

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 12th IEEE Workshop on Variable Structure Systems,
VSS’12, January 12-14, Mumbai, 2012

Fig. 7. PI controller (top to bottom): Source current, neutral current, DC

Fig. 8. SMC (top to bottom): Source current, neutral current, DC capacitor
capacitor voltage and frequency spectrum with SAPF for balanced load
voltage and frequency spectrum with SAPF for balanced load

B. Unbalanced Load Condition

Unbalanced Load Condition considered here is as follows
Phase-A:R=15 ohm, L-60 Henry
Phase-B:R=30 ohm, L=90 Henry
Phase-C:R=45 ohm, L=200 Henry
Fig.11 shows the load current waveform for unbalanced
load condition without SAPF. Fig.12 and Fig.13 shows
the source current waveform for PI and SMC respectively.
THD of the line currents after compensation are reduced
to well below acceptable limits (40.256%, 41.87%, 36.48% (a) Before Compensation
to 3.86%, 3.90%, 3.85% respectively) with PI controller
and (40.256%, 41.87%, 36.48% to 1.75%, 1.80%, 1.69% Fig. 9. Frequency spectrum of source current without SAPF
respectively) with SMC. From waveforms it is clear that
response time for capacitor voltage is fast in smc than PI.
The current waveform present a better development using performance shows that the THD of the compensated current
the SMC controller, hence the distortion in the ac mains reduces well below 5% recommended limit.
current is lower than in PI. Load current balancing with SMC Generally a conventional PI controller is used to estimate
is better than PI. the reference compensating currents by regulating the DC
link voltage. In order to improve the response time PI
IV. CONCLUSION controller is replaced with sliding mode controller. The
Two different control strategies for a three-phase four performance of sliding mode controlled SAPF is investigated
wire shunt active power filter employing instantaneous re- for balanced and unbalanced load conditions. The simulation
active power theory are presented in this paper. APF suc- results show that the SMC controller offers a better perfor-
cessfully compensates the harmonics, neutral current and mance than PI. The introduction of the loop for the capacitor
reactive power requirement of the non linear load. After voltage regulation in the sliding strategy of SMC, allows
compensation source current becomes sinusoidal, balanced recovering the steady- state in a shorter time than PI, with a
and in phase with their respective source voltages. Spectral low THD in the ac mains current.

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 12th IEEE Workshop on Variable Structure Systems,
VSS’12, January 12-14, Mumbai, 2012

(a) PI Controller

(a) PI Controller

(b) SMC Controller

Fig. 12. PI controller: Source current and capacitor voltage with SAPF for
unbalanced load

(b) SMC Controller

(a) PI Controller

Fig. 10. Frequency spectrum of source current with SAPF

(b) SMC Controller

Fig. 13. PI controller: Source current and capacitor voltage with SAPF for
(a) PI Controller unbalanced load

Fig. 11. Load current without SAPF for unbalanced load

[6] S. Buso. L. Malesani. and P. Mattavelli,”Comparison of current control
techniques for active filter applications”, IEEE transaction on Indus-
trial Elactronics, vol. 45 pp. 722-729, 1998
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ical Systems”,Prentice-Hall of India Pvt. Ltd. isbn :0-7484-0116-4,
[1] B. Singh. K. Haddad and A. Chandra,”A review of active filters
1999.
for power quality improvement”, IEEE Transactions on Industrial
[8] V. Cardenas. N. Viizquez. C. Hernandez. S. Horti, ”Analysis and
Electronics, vol. 46, pp. 960-971, 1999.
Design of a Three Phase Sliding Mode Controller for a Shunt Active
[2] T. Haddad. K. Joos. and A. Jaafari, ”Performance Evaluation of Three
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[3] F. Hamoudi., A. Chaghi., H. Amimeur.,E. Merabet, ”Sliding Mode
Control of a Three-Phase Three-Leg Voltage Source Inverter Based
Four-Wire Shunt Active Power Filter”, Journal of Electrical Systems,
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[4] S. Saetio. R. Devaraj. D. Torrey, ”The Design and Implementation of
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