WSEAS TRANSACTIONS on SYSTEMS Li Shuang, Wang Zhixin, Wang Guoqiang

A Feedback Linearization Based Control Strategy for

VSC-HVDC Transmission Converters

LI SHUANG, WANG ZHIXIN, WANG GUOQIANG

Department of Electrical Engineering
Shanghai Jiaotong University
No.800 Dong Chuan Road, Shanghai 200240
P.R. CHINA
[email protected]

Abstract: - In this paper, a global stability and robust nonlinear controller for VSC-HVDC transmission
Converters applying input-output linearization (IOL) techniques is proposed. The feedback linearization based
nonlinear differential-geometric techniques is used to cancel nonlinearities and decouple the input control
variables. Global tracking capability with zero steady-state error of the voltage loop has been achieved by
zero-dynamic control. Also, there is no derivative calculation required and measurement of load current is not
needed. The proposed controller is of many advantages compared with the traditional control strategies, such as
global stability, fast dc-bus voltage response, robust against parameter uncertainties and decoupled dynamical
d-q current loops. Comprehensive time-domain computer simulations within MATLAB/SIMULINK have been
carried out to confirm the proposed control scheme.

Key-Words: - Voltage-Source Converters (VSC)-HVDC; Nonlinear Control; Feedback Linearization;

Input-Output Linearization (IOL); Differential-Geometric

1 Introduction conditions such as limited operation range and large

Three-phase pulse-width modulation (PWM) dc-bus capacitance [15]. Certainly, it is difficult to
voltage-source converters (VSC)-HVDC link using achieve ideal control effects with linear control
the state-of-the-art power electronic devices, such as theories for the multivariable control inputs and
insulated-gate bipolar transistor (IGBT), have highly coupled nonlinearity of the VSC-HVDC. By
motivated increasing attentions and studies in recent dint of its structure, nonlinear control theories based
years [1] [2]. As compared to traditional converters, on the input-output linearization (IOL) have been
the PWM-VSC has the attractive features such as developed over recent years and achieved
almost sinusoidal input currents, controllable input considerable successes [16] [17] [18]. The main
power factor, constant dc-bus voltage and achievement of this nonlinear control technique was
bidirectional power flow ability with separately the decoupling and linearization of the synchronous
control of active and reactive power [3] [4]. All these d-q axes dynamics in VSC. However, its involved
features make VSC-HVDC systems suitable for mathematical intricateness has somehow constrained
connecting renewable sources to the main grid, the widespread usage of this technique.
especially on offshore wind farms [5-7]. Notwithstanding, thanks to the development of
Many research have been done from the control floating point based digital-signal-processor (DSP)
point of view[8] [9] [10] [11] [12] [13] [14], most of and advanced control strategies, upon which IOL
those results relay on either using small-signal with nonlinear differential-geometric techniques [19]
stability or linearized models with compensation. [20] have been one of the most essential tools for
Their performances will retain under certain nonlinear system control. The major merit of these

ISSN: 1109-2777 49 Issue 2, Volume 10, February 2011

 WSEAS TRANSACTIONS on SYSTEMS Li Shuang, Wang Zhixin, Wang Guoqiang

techniques is that one can find a global feedback law where:

to linearize and decouple multi-input multi-output ed amplitude of the source phase voltage
(MIMO) nonlinear system where regular linear in d axis (under a balanced three phase
design methods can be applied [21] [22]. supply ed  Em );
This paper presents thence a nonlinear
mathematical model of the VSC-HVDC transmission dd , q switching functions;
converters in the synchronous reference frame and its C dc-link capacitance;
controller using IOL technique developed from R, L resistance and inductance of the
differential-geometric theory, thus expanding the boosting inductor
usage of this particular technique. Also, it is shown
that the global tracking capability with zero In the equations (1)-(3), the state vector can be
steady-state error of the voltage loop can be achieved. defined as x  [ x1 x2 x3 ]T  [id iq dc ]T . The
For physical realization of the PI outer-loop control, T T
the suitable parameters of PI controller are derived. control input vector u  ud uq   d d dq  is
In this paper, several computer simulations with the switching functions in synchronous rotating d-q
MATLAB®/SIMULINK® are carried out and results coordinate.
are presented to test the robustness of the designed Equations (1)-(3) and the state-space functions
controller.
both show the nonlinear nature of the VSC systems,
for the control input u multiplied by the state
2 Mathematical modeling of the variables. The coupling between the components on
VSC-HVDC transmission converters axis d and axis q of the current sets an initial problem
Usually, two VSC stations constitute a typical in constructing a system controller. Usually,
VSC-HVDC system. For one station on the offshore controller is based on the principle of cascade
wind farm side operates as the rectifier station regulation. The internal loop imposes sinusoidal
whereas the onshore main grid side operates as the shape of the line currents and the external loop
inverter station. The topologies of the stations are
maintains the capacitive voltage x3 at a constant
symmetry, so the power circuit of one station (take
rectifier station for example) is shown in Fig. 1. It is reference value Vref . With this type of converter,
assumed that the VSC operates under a balanced x2 (iq ) is regulated to zero because of eq equal
three phase ac source, and resistive load RL is zero under a balanced three phase supply.
connected to the output terminal and neglected the
resistance of the power switches. So the dynamic
equations of the PWM VSC in the rotating d-q frame
can be expressed as follows [8] [18] [23] [24] : 3 Feedback linearization
A brief theoretical background of feedback
idc P iL
linearization is herein presented before presenting the
+
derivation of control schemes, whose detailed
ea
- +
L R ia description can be found in [16] [17] [19]. Consider
va
eb L
the following multiple-input multiple-output (MIMO)
R ib
n - + vb vdc C
RL nonlinear system
ec L R ic
- + vc
x  f ( x)  G ( x )u (4)
y  h ( x) (5)
-
N
where x is an n  1 state vector, y is
th
Fig.1 Power circuit of the three-phase PWM VSC. m  1 output vector, f ( x) and h( x ) are n -order
smooth vector fields, G ( x ) is an n  m matrix of
did smooth vector field columns gi , and u is the
L   Rid   Liq  dc dd  ed (1)
dt m  1 control input vector. An approach to obtain the
diq IOL of the MIMO system is to differentiate the
L   Riq   Lid  dc dq (2)
dt output y of the system until the inputs appear. The
d 3 smallest number of derivatives required for that  i
C dc  (id dd  iq dq )  iL (3)
dt 2 is called the relative degree of that particular output.

ISSN: 1109-2777 50 Issue 2, Volume 10, February 2011

 WSEAS TRANSACTIONS on SYSTEMS Li Shuang, Wang Zhixin, Wang Guoqiang

These derivatives may be expressed as follows:  e11  k1( 1) e1(1 1)    k11e1(1)  k10 e1  0
 1

m    (13)
yi( i )  Lfi hi   Lg j Lfi 1 hi u j (6) e m  k (  m 1) (1)
 m m ( m 1) em    km1em  km 0 em  0
j 1
 i 1
where Lg j L f hi  0 for at least one in (6) if the z  a( z, e  y  ,  ) (14)
( m 1) T
previously mentioned condition is complied. The Lie where    y1(1 1) ,, y1(1) ,, y ,, ym(1) 
m
derivative for any scalar function of h is defined
and ei  yi  yi , i  1,, m . It is easy to choose
as L f h  h  f , thus, Lif h  L f Lif1h  ( Lif1h) f is
appropriate kij to make the error dynamics stable
defined recursively for any positive integer i .
After performing the process to each output and track the reference y by usual linear pole
state variable as equation (6), the following system placement technique. The internal dynamic equation
of differential equations is obtained: (14) when tracking error e vanishes is called the

 y1(1 )   L f1 h1 ( x )  zero dynamics [17].
 u1 
      z  a( z, y  , 0) (15)
      E ( x)    (7)
 ym( m )   Lfm hm ( x )  u
 m 
  With (13) one can stabilize the error dynamic by
or equivalently setting suitable linear state feedback. On the other
y  A( x )  E ( x)u (8) hand, the equilibrium stability of the zero dynamics
where the m  m decoupling matrix E ( x) was (15) determines the equilibrium stability of the
defined as: transformed system (13), (14) under IOL laws (10),
(12) [19]. When the zero dynamics is asymptotically
 Lg Lf1 1h1  x   Lg Lf1 1h1  x  
 1 m
 stable, the nonlinear system is minimum-phase [16].
E ( x)       (9)
 L L m 1h  x   L L m 1h  x  
 g1 f m gm f m 
And then, if E ( x) is nonsingular, the new 4 IOL and current inner-loop control
transformed system with IOL can now be written as of the PWM VSC
The feedback linearization is particularly useful
u  E 1 ( x)   A( x)  (10)
in power electronics to track the nonlinear problem,
where  is a dummy input vector. Substituting where a nonlinear process is transformed into a linear
equation (10) into (8) results in a linear differential one by forcing the output to follow the input in a
relation between the output y and the new input  closed-loop fashion. According to the
 y1(1 )   1  aforementioned theory of IOL, we will derive the
    cascaded current control scheme here. Meanwhile,
   
 (11) the dc-bus voltage of the VSC can be controlled by
 ym m   m 
(  )
    choosing two different dummy output variable [22].
 z   a( z, y , )  Specialized to the two-input two-output
which is a linear differential relation between each nonlinear state equations characterizing the PWM
input-output pair. Furthermore, we can see each input VSC，we can substitute equations (1-3) into (4)
i only affects its correspondent output yi( i ) , so it with n  3 , m  2 to get
is decoupled linear relation.  R Em   1 
Now suppose that tracking of the constant   L x1   x2  L    L x3 0 
 x1     
T
output reference y   y1  ym  is required, by  x     x  R x  0 1   ud 
 x 3  
 2  1
L
2
  L   uq 
setting the auxiliary feedback [1]  x3     
i 3 3
  L   x1 x2 
 C   2C 2C 
 1

 1  k1( 1) y1(1 1)    k11 y1(1)  k10 y1  y1  (16)
     (12)
 ( m 1)
 m  km ( m 1) ym
(1)
   km1 ym  km 0 ym  ym
  Applying the theory of IOL, it is nature to
choose y  [ x1 x2 ]T  [id iq ]T as the dummy
for some positive constants kij , i  1,, m; j  1,,  i ,
output. Obviously, the reference must be set to
the closed-loop error dynamics show as follows
y  [id 0]T , when the q axis current component

ISSN: 1109-2777 51 Issue 2, Volume 10, February 2011

 WSEAS TRANSACTIONS on SYSTEMS Li Shuang, Wang Zhixin, Wang Guoqiang

x2  0 under unity power factor condition. The 2

ref 3
  Em I d  R( I d ) 2  (25)
dc-bus voltage x3 will be regulate to a desired value RL 2 
Vref indirectly when the output id tracking I d .
From the steady-state solution of (1)-(3) with In the same time, with equation (24) and (25), the
zero dynamics between ac and dc side is shown
desired voltage reference Vref , one could determine
below
the desired current command I d [25], as follows:
x3 
ref
2
 x32 
(26)
RL Cx3
Em  RI d  Vref Dd (17)
0   LI d  Vref Dq (18) 1
I d  e1
3
0  I d dd  I L (19) 
k10 u x x1
2 e2 2 G( x ) x2
I 0


q
k20
where Dd , Dq and I L  Vref RL are the 

steady-state values of the switching function and

output load current respectively. From (17) and (19)
we can get the steady-state input line current Fig. 2 VSC Current controller block diagram using
IOL.
1  Em 
2

  Em  8Vref I L 
Id      (20)
2 R  R  3R  The stability of the equilibrium point of the zero
 
As discussed in [22], the current reference dynamics (26) determines the system stability. As
command should choose the smaller one, so discussed in [22] both of roots x3  ref are stable.
In actual control scheme the initial dc-bus voltage is
1  Em 
2

  Em  8Vref I L 
Id      (21) positive, therefore, this strategy used here can
2 R  R  3R 
  achieve the desired dc-bus reference voltage ref .
Applying the IOL method presents in previous The block diagram of this current control scheme is
section, the feedback equation is shown in Fig. 2, in which the VSC model is
1
 1    Em R  linearized and removed the cross-coupling between d
 Dd   L 3
 x 0    L  L x1   x2   and q current dynamics.
       
 Dq   0 1
 x3    x  R x 

 L     
1 2
L
(22)
 k10  y1  I d  
 5 Zero dynamics and Out-loop
  (23) Control of the dc-bus voltage
 k20 y2  As shown in (21), the dc-bus voltage will track
Thus, we render the nonlinear VSC system in the the setting reference value Vref when regulating the
linearized form of (13) and (14) with z  x3 and the
d-axis current to a desired point I d by the zero
relative degrees  i  1, i  1, 2 , substitute equations dynamics (26). Albeit, these parasitical elements
(22) and (23) to (14) to get the internal dynamics as exist in the power circuit and temperature / aging
cause parameters variation which show the nonlinear,
3 especially the load disturbance may lead to zero
x3  
2Cx3  
{x1  Rx1   Lx2  Em  Lk10 I d  x1 
  steady-state error in dc-bus output. As a consequence,
i the out-loop controller should be devised to regulate
 x2  Rx2   Lx1  Lk20 x2 }  L the dc-bus voltage.
C
(24) With reference to (25), we can setup an observer
for the zero dynamics in the follow form
 (id ) x
Let the tracking error vector e  0 , by x1  I d x3   3 (27)
RL Cx3 RL C
x2  0 and x3  ref then the ideal energy
where
conservative relation is as follow:

ISSN: 1109-2777 52 Issue 2, Volume 10, February 2011

 WSEAS TRANSACTIONS on SYSTEMS Li Shuang, Wang Zhixin, Wang Guoqiang

3 I d  Em / 2 R , and lower limit can be obtained from

RL  Em id  Rid 2 
 (id )  (28)
2 equation (28) as I L _ min  (1  2) Em / 2R . For the
Substituting the nonlinear transform   x32 to
reason of symmetric of the VSC-HVDC stations, the
(27), an almost linearized zero dynamics can be maximum dc current in inverter station could be set
obtained
to I L _ max_ rev  3Em2 / 8RVref . It is obvious that the
   [ (id )   ] (29)
stability and robust control of the VSC system is
improved.
where   2 RL C . In order to get robust dynamic
R L P iL
performance, we employ the traditional PI controller
to regulate the d-axis current reference as follow C
n
2
id  k P (ref   )  k I  (ref
2
  )dt (30)
where the relation between kP and kI have been
e a e b ec ia ib ic N
discussed in [22] as θ θ
kP  kI  min (31) vdc
ed ,q id ,q

vdc id* d a ,b , c
d d ,q θ
 Vref2

Vref2 i

d x 2
3
() 2  PI IOL
 1 I q  0
kP  kI
 s  ( )  (s  ) Fig.5 Nonlinear control of PWM VSC.

6 Simulation results and discussions

Fig.3 Block diagram of the dc-bus voltage control The proposed IOL nonlinear controller is tested
loop. in MATLAB®/SIMULINK® in order to demonstrate
The controlled zero dynamics scheme is the validity of the control methodology. The control
depicted in Fig. 3. Combining Fig. 2 and Fig. 3, we scheme of offshore rectifier station is shown in Fig. 5.
obtain the cascaded control scheme for the VSC, The onshore inverter station is a symmetrical
shown in Fig. 4. topology as shown in Fig. 6. Table 1 lists the
parameters of the simulation model.

TABEL 1
Specifications of the PWM VSC in the simulation.

u x3 Power rating 500kVA
I 0

x2
Source Voltage Em
q
Vref2  1  10kV
k P  kI
 s id*  x1 dc-bus voltage Vref 20kV
Line inductor L 13mH
()2 Inductor resistance R 0.4Ω
Fig.4 Block diagram of the cascaded controller for dc-bus capacitor C 1500uF
the PWM VSC. Line frequency  100 rad / s
PWM carrier frequency 2kHz
The power rating of VSC-HVDC system restricts
the maximum amplitude of the line currents. For a two-terminal VSC transmission system, as
Meanwhile expression (21) determines the maximum depicted in Fig. 6, normally one converter controls
output dc current if I d exist a real solution the DC voltage, namely the DC voltage controller
2 (DCVC), and the other controls the active power,
 Em  8Vref I L
 R   3R  0 (32) namely the active power controller (APC). The
  DCVC can operate as a rectifier or an inverter and
So, I L _ max  3Em2 / 8RVref . It is obvious that the the same applies to the APC, which are independent
upper bound on the amplitude of the line currents is of the power transfer direction. Fig. 7 shows
steady-state waveforms of the DCVC and APC with

ISSN: 1109-2777 53 Issue 2, Volume 10, February 2011

 WSEAS TRANSACTIONS on SYSTEMS Li Shuang, Wang Zhixin, Wang Guoqiang

the proposed IOL cascaded-control scheme. Fig. 7(a) THD and low harmonics compared the result in Fig.
and (b) depict the converter operating at unity power 8 which was under traditional PI control scheme.
factor. The advantage is obvious that it has little

Fig.6 Block diagram of 500kVA VSC-HVDC.

(a) (b)
Fig. 7 Ac side responses in steady-state under IOL control. (a) Inverter station. (b) Rectifier station.

(a) (b)
Fig. 8 Ac side responses in steady-state under PI control. (a) Inverter station. (b) Rectifier station.

ISSN: 1109-2777 54 Issue 2, Volume 10, February 2011

 WSEAS TRANSACTIONS on SYSTEMS Li Shuang, Wang Zhixin, Wang Guoqiang

In Fig. 9, smaller overshoot and fast changes at the beginning and the end of the voltage
stabilization can be achieved under IOL control, reference change, meanwhile the q-axis current only
compared to the traditional PI control. Fig. 10 shows have negligible changes in the transient responses for
when the setting point of the dc-bus voltage changes, some other uncertainty perturbations in the system. It
between 0.4s~0.7s, the simulation model can track can be shown the feature of current decoupling, and
the new reference fast. The d-axis current fast dc-bus voltage tracking property.
Fig. 11 shows the dynamic of the transmission
active power step changes at 0.4s. Fig. 11 (a) and (b)
show the dc-link voltage and current transient of the
active power step change. With the proposed zero
dynamic controller on the outer-loop, the influence to
the dc-bus voltage is slight. And with a fast current
tracking ability in the inner current loop, the d-axis
current are regulated to the new setting point.
Fig. 12 is the situation of power flow reverse
suddenly at 0.4s, where the DCVC and APC working
conditions (inverting or rectifying) interchange with
each other. The waveform of the dc-bus voltage and
current, d, q axis currents, line voltage and current
under a sudden change in the active power from
0.5pu to -0.5pu are shown in Fig. 12 (a)-(d)
Fig. 9 Dc-bus steady-state responses under PI
and IOL control scheme.

(a) (b)
Fig. 10 Voltage and current transient responses for dc-voltage reference changes. (a) Step changes in
dc-bus voltage reference. (b) Decoupled d-q axis currents.

ISSN: 1109-2777 55 Issue 2, Volume 10, February 2011

 WSEAS TRANSACTIONS on SYSTEMS Li Shuang, Wang Zhixin, Wang Guoqiang

(a) (b)

(c) (d)
Fig. 11 Responses to step changes in active power. (a) Dc-bus voltage. (b) Dc-bus current. (c) Decoupled
d-q axis currents. (d) Ac side voltage, current responds.

(a) (b)

(c) (d)
Fig. 12 Responses to sudden change from rectifying to regenerating mode. (a) Dc-bus voltage. (b) Dc-bus
current. (c) Decoupled d-q axis currents (d) Ac side voltage, current responds

Finally, Fig. 13 shows the responses of DCVC controls the DC voltage by properly reducing
three-phase to ground fault in the onshore main gird the power exchange between the converter and the
side between 0.4s~0.5s. During an AC fault, the connected AC system [24] .
active power exchanged between the converter and
the faulty AC system may be significantly reduced
owing to the reduced AC voltage and the converter 7 Conclusion
current limit. If the fault is on the AC side of the In this paper, a nonlinear control method based
APC, the delivered power is automatically reduced on IOL and zero-dynamic for a VSC-HVDC system
when the converter reaches its current limit and the has been presented. The nonlinearity of the system

ISSN: 1109-2777 56 Issue 2, Volume 10, February 2011

 WSEAS TRANSACTIONS on SYSTEMS Li Shuang, Wang Zhixin, Wang Guoqiang

(a) (b)

(c) (d)
Fig. 13 Waveform of three-phase to ground fault on the grid side. (a) Voltage and current waveform of the
offshore wind farm side. (b) Voltage and current waveform of the onshore main grid side. (c) Waveform of the
DC bus. (d) Decoupled active and reactive.

and the coupling effect the d-q current control were References:
eliminated by proposed IOL control scheme. By [1] Dong-Choon Lee, G-Myoung Lee, and K.-D.
devising the zero dynamics observer in the Lee, DC-Bus Voltage Control of Three-Phase
outer-loop dc-bus voltage controller, the fast zero AC DC PWM Converters Using Feedback
tracking errors were made, even in the presence of Linearization, IEEE Transactions On Industry
parameter perturbation. The active and reactive Applications, Vol.36, No.3, 2000, pp.826-833.
power can be independently controlled under unity [2] Niculescu, E., et al., Analysis of PWM
power factor. Simulations verified the validity and converters using MATLAB, WSEAS
effective of the proposed control scheme which used Transactions on Circuits and Systems, 2006.
in VSC-HVDC transmission system. These results 5(Compendex), pp. 1522-1527.
show the satisfactory performance of the proposed [3] Carbone, R. and A. Scappatura, An improved
IOL controller in comparison to the traditional PI three-phase rectifier for PWM adjustable speed
controller. Also, the results in this paper can further drives with passive power factor correction and
be an effective scheme in the hardware design of resistance emulation, WSEAS Transactions on
digital control system based on floating point DSP Circuits and Systems, 2005. 4(Compendex), pp.
devices. 952-959.
[4] Azizi, H., A. Vahedi, and G.H. Papi,
Investigation of power quality disturbance
8 Acknowledgment effects on the direct power controlled PWM
This Project was granted financial support from rectifier, WSEAS Transactions on Systems, 2005.
Key Project of National Science Foundation of China 4(Compendex), pp. 1777-1784.
[5] Du, C.Q., E. Agneholm, and G. Olsson,
(60934005), Shanghai Education Development VSC-HVDC System for Industrial Plants With
Foundation (09LM37,10LM26), and Shanghai Onsite Generators, IEEE Transactions on Power
Scientific Development Foundation (09195802900）. Delivery, Vol.24, No.3, 2009, p p. 1359-1366.
[6] Abbas, A.M. and P.W. Lehn, PWM Based

ISSN: 1109-2777 57 Issue 2, Volume 10, February 2011

 WSEAS TRANSACTIONS on SYSTEMS Li Shuang, Wang Zhixin, Wang Guoqiang

VSC-HVDC Systems - a Review, 2009 Ieee Transactions on Systems, 2005 (Compendex),

Power & Energy Society General Meeting, Vol. pp. 1354-1362.
1-8, 2009, p p. 4478-4486. [16] Duarte-Mermoud, Manuel A., Estrada, Jorge L.,
[7] Gonzalez-Hernandez, S., et al., Analysis of et al., Model reference adaptive control of linear
Integrated Wind Farm Using a Multiterminal time-varying plants, WSEAS Transactions on
VSC-HVDC: Different Electrical Conditions Circuits and Systems, Vol.5, No.4, 2006,
Response, 2008 40th North American Power pp.457-464.
Symposium, 2008, p p. 145-149. [17] Petrzela Jiri, Hrubos Zdenek, Simplest chaos
[8] Guedouani Rabea,Fiala Bachir, et al., A new converters: Modeling, analysis and future
algorithm control for three-phase AC/DC pulse perspectives, Proceedings of the 8th WSEAS
width modulation voltage source rectifier, International Conference on System Science and
WSEAS Transactions on Circuits and Systems, Simulation in Engineering, ICOSSSE, 2009,
Vol.6, No.1, 2007, pp.102-109. pp.160-163.
[9] Rafiei, Mohammadreza, Ghazi, et al., Robust [18] Wang Guo-Qiang, Wang, Zhi-Xin, Control of
control methodologies for dc/dc PWM HVDC-light transmission for offshore wind
converters under wide changes in operating farms based on input-output feedback
conditions, WSEAS Transactions on Systems, linearization and PSO, WSEAS Transactions on
Vol.5, No.11, 2006, pp.2655-2665. Systems, Vol.9, No.11, 2010, pp.1109-1119.
[10] Weixing, L. and O. Boon-Teck, DC overvoltage [19] Isidori, A., Nonlinear Control Systems, Berlin,
control during loss of converter in multiterminal Germany: Springer-Verlag, 1989.
voltage-source converter-based HVDC [20] Slotine, J.E. and W. Li, Applied Nonlinear
(M-VSC-HVDC), IEEE Transactions on Power Control, Englewood Cliffs, NJ: Prentice-Hall,
Delivery, Vol.18, No.3, 2003, pp. 915-920. 1991.
[11] Zhou, K.L. and D.W. Wang, Relationship [21] Daizhan, C., Applied Nonlinear Control, China
between space-vector modulation and Machine Press, China, 2009.
three-phase carrier-based PWM: A [22] Tzann-Shin, L., Input-output linearization and
comprehensive analysis, IEEE Transactions On zero-dynamics control of three-phase AC/DC
Industrial Electronics, Vol.49, No.1, 2002, pp. voltage-source converters. IEEE Transactions
186-196. on Power Electronics, Vol.18, No.1, 2003,
[12] Wang, F., Sine-Triangle versus Space-Vector pp.11-22.
Modulation for Three-Level PWM [23] Burgos, R.P., E.P. Wiechmann, and J. Holtz,
Voltage-Source Inverters, IEEE Transactions On Complex state-space modeling and nonlinear
Industry Applications, VOL.38, NO.2, 2002, control of active front-end converters, IEEE
pp.500-506. Transactions on Industrial Electronics, Vol.52,
[13] Jeong, S. and S. Song, Improvement of No.2, 2005, pp. 363-377.
Predictive Current Control Performance Using [24] Moharana, A. and P.K. Dash, Input-Output
Online Parameter Estimation in Phase Linearization and Robust Sliding-Mode
Controlled Rectifier, IEEE Transactions On Controller for the VSC-HVDC Transmission
Power Electronics, Vol.22, No.5, 2007, pp. Link. IEEE Transactions on Power Delivery,
1820-1825. Vol.25, No.3, 2010, pp. 1952-1961.
[14] Guedouani Rabea, Fiala Bachir, Berkouk E.M., [25] Yongsug Suh, Valentin Tijeras, and T.A. Lipo, A
et al., A new algorithm control for three-phase Nonlinear Control of the Instantaneous Power in
AC/DC pulse width modulation voltage source dq Synchronous Frame for PWM AC/DC
rectifier, WSEAS Transactions on Circuits and Converter under Generalized Unbalanced
Systems, Vol.6, No.1, 2007, pp.102-109. Operating Conditions, IEEE Industry
[15] Koytiva, X., et al., Application of adaptive fuzzy Applications Society Conference, Vol.2, 2002,
control for the mitigation of fault disturbances pp.1189-11496.
in an HVDC link based on VSCs, WSEAS

ISSN: 1109-2777 58 Issue 2, Volume 10, February 2011