1418 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 59, NO.

3, MARCH 2012
A Lyapunov-Function-Based Control for a
Three-Phase Shunt Hybrid Active Filter
Salem Rahmani, Member, IEEE, Abdelhamid Hamadi, Student Member, IEEE, and Kamal Al-Haddad, Fellow, IEEE
AbstractIn this paper, an energy-based Lyapunov function
control technique is developed for a three-phase shunt hybrid
active lter (SH-AF) to compensate harmonics generated by non-
linear loads and is applied for balanced operation. The method
provides compensation for harmonic load current components.
The strategy determines the control law that makes the derivative
of the Lyapunov function always negative for all values of the
states. The dc bus voltage of the SH-AF is maintained to 50 V,
which is signicantly lower than that of the conventional hybrid
active lter. The rating of the active lter in the SH-AF system
is much smaller than the one used in the conventional shunt
active power lter because the passive lter takes care of the
major burden of compensation. The SH-AF performances, during
both nominal and severe operating conditions, are then evaluated
using a dSPACE DS1104 controller board, supported by a Mat-
lab/Simulink Real-Time Workshop environment. A signicantly
high correlation between the experimental results and the theo-
retical model, implemented with Simulink/Matlab, is obtained.
Index TermsEnergy-based Lyapunov function, harmonic
compensation, hybrid active lter, modeling, real-time control.
I. INTRODUCTION
H
YBRID active lters are considered one of the favored
options for improving power quality for a number of
considerations. Their topologies provide inherent advantages
which combine both passive and active lter functions. There-
fore, an improved-performance and cost-effective solution to
harmonic elimination is nowadays available for power quality
enhancement [1], [2]. Various topologies of hybrid lters, such
as hybrid passive lters, shunt active lters with shunt passive
lters, series active lters with shunt passive lters, and shunt
passive lters in series with an active lter, have been suggested
[3][10]. Peng [1] and Singh et al. [2] have presented 60 hybrid
Manuscript received August 2, 2010; revised December 5, 2010, March 14,
2011, and June 24, 2011; accepted July 10, 2011. Date of publication August 1,
2011; date of current version October 25, 2011. This work was supported in
part by the Canada Research Chair on Electrical Energy Conversion and Power
Electronics at cole de Technologie Suprieure, by Fonds Qubcois de la
Recherche sur la Nature et les Technologies of Qubec, and by the Natural
Sciences and Engineering Research Council of Canada.
S. Rahmani is with the Power Electronics and Industrial Control Research
Group (GREPCI), cole de Technologie Suprieure, University of Qubec,
Montreal, QC H3C 1K3, Canada (e-mail: rsalem02@yahoo.fr).
A. Hamadi and K. Al-Haddad are with the Department of Electrical Engi-
neering, cole de Technologie Suprieure, University of Qubec, Montreal,
QC H3C 1K3, Canada (e-mail: abdelhamidhamadi@yahoo.fr; kamal@
ele.etsmtl.ca).
Color versions of one or more of the gures in this paper are available online
at http://ieeexplore.ieee.org.
Digital Object Identier 10.1109/TIE.2011.2163370
active lter topologies for use in solving the power quality
problem. Akagi and Kondo [11] have proposed a parallel hybrid
active lter topology, which is composed of a small-rating ac-
tive lter in series with a tuned passive lter. The active lter is
controlled to sink all the harmonic currents into passive lters.
By actively improving the compensation characteristics of the
tuned passive lter, their design becomes insensitive to supply
impedance. This concept permitted eliminating the possibility
of series and parallel resonances. A number of control concepts
and strategies for active power lters, such as linear feedback
control [12], [13], nonlinear control [14], repetitive control
[15], neural network approach [16], [17], adaptive control [18]
[21], and Lyapunov-function-based control [22][24], have
been reported in the literature. Also, there has been tremendous
progress during the last decade in detection techniques and
control law implementation mainly due to the development
of reliable and very fast digital signal processors (DSPs) [7],
[14] and eld-programmable gate arrays, allowing therefore
the implementation of complex algorithms without altering the
switching frequency of the semiconductor devices in the active
part of the lter. In this paper, a Lyapunov control technique
is used to achieve a globally stable operation of the shunt
hybrid active lter (SH-AF) that is connected to a distribution
feeder, which satises the current harmonic limits as specied
by IEEE-519. The SH-AF consists of a small-rated active lter
and a fth-harmonic-tuned passive lter. The active and passive
lters are connected in series with each other. The active lter
is controlled as a current-controlled voltage source and injects
appropriate compensating harmonic currents into the passive
lter so that no harmonic currents are drawn from the ac mains.
This eliminates the possibility of series and parallel resonances.
The SH-AF can maintain a lowlevel of dc bus voltage at a stable
value below 50 V. The dc voltage of the proposed SH-AF is sig-
nicantly lower than that of the conventional hybrid active lter.
The lower dc bus voltage is one of the advantages of the SH-AF
in comparison to the conventional hybrid active lter. The
dynamic model of the SH-AF system is rst established in
the three-phase coordinates, and then, it is transformed into the
synchronous orthogonal dq frame to avoid time dependence.
A proportionalintegral (PI) controller is used to control the
SH-AF dc bus voltage. The steady-state and dynamic
performances of the SH-AF with the Lyapunov-function-
based control approach are obtained by simulation using
Simulink/Matlab and from an experimental setup of a 2.5-kVA
laboratory prototype, using the DS1104 controller board of
dSPACE. Satisfactory results, such as low source current total
0278-0046/$26.00 2011 IEEE
RAHMANI et al.: LYAPUNOV-FUNCTION-BASED CONTROL FOR A THREE-PHASE SHUNT HYBRID ACTIVE FILTER 1419
harmonic distortion (THD), low voltage ripple at the dc side,
fast step response, and high robustness with respect to load
variation, are obtained.
II. THREE-PHASE SH-AF TOPOLOGY
The conguration of the SH-AF is shown in Fig. 1. The SH-
AF consists of a low-rating active power lter connected in
series with a passive lter. The SH-AF inherits the advantages
of both active and passive lters and thus constitutes a viable
improved approach for harmonic compensation and provides
cost-effective solutions. It damps resonances occurring between
line impedances and the passive lter. On the other hand, the
fundamental voltage drops on the passive lter components
allow the shunt active power lter to operate with a signicantly
lower dc-link voltage, which provides signicant reduction in
the active lter power rating. Although the passive lter com-
pensates the fth harmonic, the active lter is controlled such
as a current-controlled voltage source aimed to compensate for
load harmonics and prohibiting them from circulating into the
ac mains. A diode bridge rectier with RL or RC load is
considered as a nonlinear load.
III. SH-AF MODELING
Kirchhoffs rules for voltages and currents as applied to the
SH-AF topology yield the following seven differential equa-
tions in the three-phase coordinates:
v
s1
=L
PF
di
c1
dt
+R
PF
i
c1
+v
CPF1
+v
1M
+v
MN
v
s2
=L
PF
di
c2
dt
+R
PF
i
c2
+v
CPF2
+v
2M
+v
MN
v
s3
=L
PF
di
c3
dt
+R
PF
i
c3
+v
CPF3
+v
3M
+v
MN
i
c1
=C
PF
dv
CPF1
dt
i
c2
=C
PF
dv
CPF2
dt
i
c3
=C
PF
dv
CPF3
dt
dv
dc
dt
=
1
C
dc
i
dc
. (1)
Taking into account the absence of the zero sequence in the
three-wire system and assuming that the ac supply voltages are
balanced, the following assumptions are deduced:
v
s1
+v
s2
+v
s3
=0
v
c1
+v
c2
+v
c3
=0.
The following fact is therefore obtained:
v
MN
=
1
3
3

m=1
v
mM
. (2)
The switching function c
k
of the kth leg of the converter
(for k = 1, 2, 3) is dened as
c
k
=
_
1, if S
k
is on and S

k
is off
0, if S
k
is off and S

k
is on.
(3)
Thus, v
kM
= c
k
v
dc
. The kth-phase dynamic equation of the
lters model is given by the following equation:
di
ck
dt
=
R
PF
L
PF
i
ck

v
CPFk
L
PF

1
L
PF
_
c
k

1
3
3

m=1
c
m
_
v
dc
+
v
sk
L
PF
. (4)
A switching state function d
nk
is dened as
d
nk
=
_
c
k

1
3
3

m=1
c
m
_
n
. (5)
Based on (5) and for the eight permissible switching states of
the active lter, the conversion from [c
k
] to [d
nk
] is given by

d
n1
d
n2
d
n3

=
1
3

2 1 1
1 2 1
1 1 2

c
1
c
2
c
3

. (6)
Note that [d
nk
] has no zero-sequence component (i.e., d
n1
+
d
n2
+d
n3
= 0).
Analysis of the dc component of the system gives
dv
dc
dt
=
1
C
dc
i
dc
=
1
C
dc
3

m=1
c
m
i
cm
.
It can be shown that
3

m=1
d
nm
i
cm
=
3

m=1
c
m
i
cm
.
This allows obtaining the relation
dv
dc
dt
=
1
C
dc
3

m=1
d
nm
i
cm
. (7)
Moreover, the absence of the zero sequence in the ac currents
and in the [d
nk
] functions leads to the following differential
equation on the dc side:
dv
dc
dt
=
1
C
dc
(2d
n1
+d
n2
)i
c1
+
1
C
dc
(d
n1
+ 2d
n2
)i
c2
. (8)
The complete model of the active lter in the three-phase
coordinates is
d
dt

i
c1
i
c2
v
dc

R
PF
L
PF
0
d
n1
L
PF
0
R
PF
L
PF

d
n2
L
PF
2d
n1
+d
n2
C
dc
d
n1
+2d
n2
C
dc
0

i
c1
i
c2
v
dc

1
L
PF

v
CPF1
v
CPF2
0

+
1
L
PF

v
s1
v
s2
0

. (9)
1420 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 59, NO. 3, MARCH 2012
Fig. 1. Conguration of the SH-AF.
Using Parks transformation, the three-phase quantities are
transformed into a synchronous rotating reference frame. The
general transformation matrix is
C
123
dq
=
_
2
3
_
cos cos( 2/3) cos( 4/3)
sin sin( 2/3) sin( 4/3)
_
(10)
where = t represents the actual phase angle of the line
voltage space vector and C
dq
123
= (C
123
dq
)
1
= (C
123
dq
)
T
is the
coordinate matrix transformation.
The resulting transformed model in the synchronous orthog-
onal rotating frame is as follows:
di
d
dt
=
R
PF
L
PF
i
d
+i
q

1
L
PF
v
CPFd

d
nd
L
PF
v
dc
+
1
L
PF
v
sd
di
q
dt
=
R
PF
L
PF
i
q
i
d

1
L
PF
v
CPFq

d
nq
L
PF
v
dc
+
1
L
PF
v
sq
dv
CPFd
dt
=
1
C
PF
i
d
+v
CPFq
dv
CPFq
dt
=
1
C
PF
i
q
v
CPFd
dv
dc
dt
=
d
nd
C
dc
i
d
+
d
nq
C
dc
i
q
. (11)
Let us choose x
1
= i
d
i

d
, x
2
= i
q
i

q
, x
3
= v
CPFd

CPFd
, x
4
= v
CPFq
v

CPFq
, and x
5
= v
dc
v

dc
, where x
1
,
x
2
, x
3
, x
4
, and x
5
are the state variables of the system, i

d
and i

q
are the reference currents extracted from the nonlinear load, and
v

CPFd
and v

CPFq
are the reference voltages across the shunt
passive lter capacitor.
The following relations are obtained:
dx
1
dt
=
R
PF
L
PF
x
1
+x
2

x
3
L
PF

1
L
PF
d
nd
(x
5
+v

dc
)

D
nd
L
PF
v

dc
dx
2
dt
=
R
PF
L
PF
x
2
x
1

x
4
L
PF

1
L
PF
d
nq
(x
5
+v

dc
)
RAHMANI et al.: LYAPUNOV-FUNCTION-BASED CONTROL FOR A THREE-PHASE SHUNT HYBRID ACTIVE FILTER 1421

D
nq
L
PF
v

dc
dx
3
dt
=
1
C
PF
x
1
+x
4

dv

CPFd
dt
+
1
C
PF
i

d
+v

CPFq
dx
4
dt
=
1
C
PF
x
2
x
3

dv

CPFq
dt
+
1
C
PF
i

q
v

CPFd
dx
5
dt
=
1
C
dc
_
d
nd
(x
1
+i

d
) +d
nq
_
x
2
+i

q
_
+D
nd
i

d
+D
nq
i

(12)
where D
nd
and D
nq
are the steady-state switching functions
and d
nd
and d
nq
are the global switching functions.
The steady-state switching functions are
D
nd
=
L
PF
v

dc
_

di

d
dt

R
PF
L
PF
i

d
+i

CPFd
L
PF
+
1
L
PF
v
sd
_
D
nq
=
L
PF
v

dc
_

di

d
dt

R
PF
L
PF
i

q
i

CPFq
L
PF
+
1
L
PF
v
sq
_
.
(13)
In steady state, the following equalities can be obtained:
C
PF
dv

CPFd
dt
+i

d
+C
PF
v

CPFq
=0
C
PF
dv

CPFq
dt
+i

q
C
PF
v

CPFd
=0.
The following relations are deduced:
dx
3
dt
=
1
C
PF
x
1
+x
4
dx
4
dt
=
1
C
PF
x
2
x
3
. (14)
IV. LYAPUNOV-FUNCTION-BASED CONTROL STRATEGY
The proposed strategy is based on Lyapunovs direct method.
The main idea is that of proving that the total energy of the SH-
AF system decreases along the system trajectories. According
to Lyapunovs stability theorem, a nonlinear system is globally
asymptotically stable if the Lyapunov candidate function V (x)
satises the following properties [22][24]:

V (0) = 0
V (x) > 0, for all x = 0

V (x) < 0, for all x = 0

V (x) , as x .
The Lyapunov function is dened as the storage energy of
the SH-AF; it is denite positive and is given as
V =
3
2
L
PF
x
2
1
+
3
2
L
PF
x
2
2
+
3
2
C
PF
x
2
3
+
3
2
C
PF
x
2
4
+
1
2
C
dc
x
2
5
.
(15)
The system is globally stable if the derivative of the Lya-
punov function is negative
dV
dt
=3x
1
(R
PF
x
1
+L
PF
x
2
x
3
d
nd
(x
5
+v

dc
) D
nd
v

dc
)
+ 3x
2
(R
PF
x
2
L
PF
x
1
x
4
d
nq
(x
5
+v

dc
) D
nq
v

dc
)
+ 3x
3
(x
1
+C
PF
x
4
) + 3x
4
(x
2
C
PF
x
3
)
+x
5
_
d
nd
(x
1
+i

d
) +d
nq
_
x
2
+i

q
_
+D
nd
i

d
+D
nq
i

q
_
. (16)
The equation can be rearranged in the following form:
dV
dt
= 3R
PF
x
2
1
3R
PF
x
2
2
+d
nd
(+x
5
i

d
3x
1
v

dc
)
+d
nq
_
x
5
i

q
3x
2
v

dc
_
+D
nd
(x
5
i

d
3x
1
v

dc
)
+D
nq
_
x
5
i

q
3x
2
v

dc
_
2d
nd
x
1
x
5
2d
nq
x
2
x
5
.
(17)
The Lyapunov function derivative can be expressed as
dV
dt
=3R
PF
x
2
1
3R
PF
x
2
2
+d
nd
_
x
5
i

d
3x
1
_
v

dc
+
2
3
x
5
__
+d
nq
_
x
5
i

q
3x
2
_
v

dc
+
2
3
x
5
__
+D
nd
(x
5
i

d
3x
1
v

dc
) +D
nq
_
x
5
i

q
3x
2
v

dc
_
. (18)
One can conrm that v

dc
x
5
. Furthermore, the ripple
component x
5
can be ignored, and the dc bus reference voltage
can be approximated as
v

dc
+
2
3
x
5
v

dc
. (19)
Then, (18) becomes
dV
dt
= 3R
PF
x
2
1
3R
PF
x
2
2
+ (d
nd
+D
nd
) (x
5
i

d
3x
1
v

dc
)
+ (d
nq
+D
nq
)
_
x
5
i

q
3x
2
v

dc
_
. (20)
It is clear that the two terms 3R
PF
x
2
1
3R
PF
x
2
2
are neg-
ative. Furthermore, the Lyapunov function derivative becomes
always negative denite if the switching state functions d
nd
and
d
nq
are chosen as
d
nd
=(x
5
i

d
3x
1
v

dc
) D
nd
d
nq
=
_
x
5
i

q
3x
2
v

dc
_
D
nq
, with < 0 (21)
where is the gain of the controller.
It is shown that the time derivative of the Lyapunov func-
tion does not depend on the whole state because there is a
1422 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 59, NO. 3, MARCH 2012
simplication of the states x
3
and x
4
. To ensure the global sta-
bility, one studies the linearized system around the equilibrium
point.
When the control (21) is substituted in the system of equa-
tions given by (12), the equations for the closed-loop system
are obtained as
dx
1
dt
=
R
PF
L
PF
x
1
+x
2

x
3
L
PF

L
PF
(x
5
i

d
3x
1
v

dc
) (x
5
+v

dc
) +
D
nd
L
PF
x
5
dx
2
dt
=
R
PF
L
PF
x
2
x
1

x
4
L
PF

L
PF
_
x
5
i

q
3x
2
v

dc
_
(x
5
+v

dc
) +
D
nq
L
PF
x
5
dx
3
dt
=
1
C
PF
x
1
+x
4
dx
4
dt
=
1
C
PF
x
2
x
3
dx
5
dt
=
1
C
dc
[((x
5
i

d
3x
1
v

dc
) (x
1
+i

d
)
+
_
x
5
i

q
3x
2
v

dc
_ _
x
2
+i

q
_

1
C
dc
(D
nd
x
1
+D
nq
x
2
). (22)
The equilibrium points of the system are found to be
x
1
= x
2
= x
3
= x
4
= x
5
= 0. (23)
The system can be linearized around the equilibrium point.
The Jacobian matrix is given by (24), shown at the bottom of
the page. For = 0.1, the characteristic equation is given by
det(SI A) =s
5
+ 6 10
5
s
4
+ 9 10
10
s
3
+ 2.5 10
12
s
2
+ 1.29 10
16
s + 4.18 10
16
.
The poles of the characteristic equation are
p
1
= 3 10
5
+ 376i
p
2
= 3 10
5
376i
p
3
= 11.78 + 378.6i
p
4
= 11.78 378.6i
p
5
= 3.24.
Fig. 2. Placement of the closed-loop eigenvalues in terms of parameter alpha.
TABLE I
SOURCE CURRENT THD AND RESPONSE TIME
FOR DIFFERENT VALUES OF ALPHA
All the poles are in the left-half plane; therefore, one deduces
that the system is globally stable.
A. Choice of
The choice of alpha is based on the fast response of the
closed-loop system and the good quality of compensation.
Fig. 2 shows the placement of the closed-loop eigenvalues in
terms of parameter alpha ( = 0.1, 1, and 5). It is shown
from this gure that, if the module of is increased, then the
dynamic of the system is sufciently fast. Moreover, must
be selected in order to not disturb the compensation SH-AF
current.
Table I shows the THD of the source current and the response
time of the dc bus voltage for different values of alpha.
It is shown that the choice of is very important because
it affects the performance of the compensation (response time
of the system and quality of compensation). For = 0.1, the
THD of the source current is 20%, and the response time is
0.15 s; as is increased, the speed of the response time
is increased to 0.05 s, and the THD of the source current is
reduced to 2.5%. One can see that, for less than 1, the
response time of the system is not affected, but the THD of
the current source is improved.
A =

R
PF
L
PF
+
3
L
PF
v
2
dc

1
L
PF
0

L
PF
i

d
v

dc
+
D
nd
L
PF

R
PF
L
PF
+
3
L
PF
v
2
dc
0
1
L
PF


L
PF
i

q
v

dc
+
D
nq
L
PF
1
C
PF
0 0 0
0
1
C
PF
0 0

3
C
dc
v

dc
i

D
nd
C
dc

3
C
dc
v

dc
i

D
nq
C
dc
0 0

C
dc
i

d
2
+

C
dc
i

q
2

(24)
RAHMANI et al.: LYAPUNOV-FUNCTION-BASED CONTROL FOR A THREE-PHASE SHUNT HYBRID ACTIVE FILTER 1423
Fig. 3. Block diagram of the proposed control scheme.
V. DC BUS VOLTAGE REGULATION
Due to the loss of energy in the active lter, a regulation of
the dc bus voltage is required. In order to stabilize the voltage on
the dc side, the voltage v
dc
must follow this reference v

dc
. For
this purpose, an outer control loop is designed by integrating a
suitable PI regulator. The output of the controller is added to
the q-component current reference i
q
as shown in Fig. 3, and
the regulator parameters are chosen in order to guarantee the
stabilization of v
dc
around its desired value. The regulator can
be calculated as follows.
The dc bus voltage becomes
C
dc
dv
dc
dt
= q
nq
i
q
. (25)
The three-phase lter currents are given by

i
c1
i
c2
i
c3

=
_
2
3
i
q

sin
sin
_

2
3
_
sin
_

2
3
_

. (26)
The fundamental lter rms current I
c
is
I
c
=
i
q

3
. (27)
The q-axis active lter voltage v
Mq
is expressed as
v
Mq
= q
nq
v
dc
= Z
PF1
i

q1
(28)
where Z
PF1
is the impedance of the passive lter at 60 Hz
and i

q1
is a dc component.
The reactive current of the active lter is
i
q
=
u
dc
q
nq
=
v
dc
Z
PF1
i

q1
u
dc
(29)
where u
dc
is an equivalent input.
The control effort of the dc voltage loop is deduced
i

q1
=
v
dc
Z
PF1
i
q
u
dc
. (30)
1424 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 59, NO. 3, MARCH 2012
The closed-loop transfer function of the dc voltage outer
control loop is given as follows:
V
dc
(s)
V

dc
(s)
=

3Z
PF1
k
p
I
c
V
dc
C
dc
s +

3Z
PF1
k
i
I
c
V
dc
C
dc
s
2
+

3Z
PF1
k
p
I
c
V
dc
C
dc
s +

3Z
PF1
k
i
I
c
V
dc
C
dc
=2
nv
s +

nv
2
s
2
+ 2
nv
s +
2
nv
(31)
where is the damping factor,
nv
is the outer loop natural
angle, V
dc
is the average value of the dc voltage which is equal
to 50 V, and Z
PF1
is the impedance of the passive lter at
60 Hz.
The proportional k
p
and integral k
i
gains are then ob-
tained as follows: k
p
= 2
nv
(V
dc
C
dc
/

3Z
PF1
I
c
) and k
i
=

2
nv
(V
dc
C
dc
/

3Z
PF1
I
c
).
Fig. 3 shows the Lyapunov-function-based control scheme
of the SH-AF. The active lter is used to realize the function
of the variable passive lter components, and thus, the passive
lter is always tuned to the fth harmonic for all operating
conditions of the load. Although the passive lter compensates
the fth harmonic, the active lter is controlled such as a
current-controlled voltage source aimed to compensate for load
harmonics and prohibiting them from circulating into the ac
mains. Moreover, the reference harmonic currents are rst
extracted from the sensing load currents. In the orthogonal
frame, the fundamental current component can be seen as a
dc component, and as a consequence, the harmonic load cur-
rents can be extracted with high-pass lters (HPFs). The HPF
function used in this case has been synthesized using a low-
pass lter with a subtracted forward action. The steady-state
switching functions D
nd
and D
nq
are therefore generated. The
Lyapunov stability conditions are used to generate the global
switching functions d
nd
and d
nq
, which force the active lter
to regulate the dc bus voltage v
dc
and to produce the required
exact current harmonics to compensate for the generated load
harmonics.
On the other hand, the Lyapunov-function-based control ap-
proach is used to extract the harmonic current components from
the distorted load current waveform without a harmful phase
shift. The d-axis current i
d
, the q-axis current i
q
, and the phase-
1 current i
c1
of the hybrid lter in the steady-state operation are
superposed with their respective references and shown in Fig. 4.
The results clearly show that the oscillating current harmonics
injected by the hybrid lter track their reference templates with
high accuracy.
VI. SIMULATION RESULTS
The proposed control strategy based on Lyapunovs stability
theory is simulated using Power System Blockset operating
under the Matlab/Simulink environment. To conrm the perfor-
mance of the SH-AF system, the obtained results are analyzed,
and the THD of the source current under severe varying load
conditions is taken as the performance index. The main purpose
of the simulation is to test the control law performance under
the following four different aspects: 1) steady-state harmonic
compensation generated by a current-source type of nonlinear
Fig. 4. Waveforms showing the tracking performances of the inner loop
(from top to bottom) i
d
, i
q
, and i
c1
with their references.
TABLE II
SPECIFICATION PARAMETERS
load; 2) dynamic response of the SH-AF to dynamic variation
of a current-source type of nonlinear load; 3) steady-state
harmonic compensation of a voltage-source type of nonlinear
load; and 4) dynamic response of the SH-AF to voltage-source
type of nonlinear load variation. The specication parameters
used in these simulations are given in Table II.
A. Harmonic Compensation of a Current-Source
Type of Nonlinear Load
The steady-state simulation results of the SH-AF system
with the current-source type of nonlinear load are shown in
Fig. 5. The supply voltages (v
s123
), supply currents (i
s123
),
load currents (i
L123
), hybrid active lter currents (i
c123
), and
dc voltage (v
dc
) are depicted there. The results of the harmonic
analysis of the supply current before and after compensation
are shown in Fig. 6(a) and (b), respectively. The THD of
the source current in phase 1 has been reduced from 26.54%
before compensation to 2.37% after compensation. The com-
pensated source current shown in Fig. 5 suggests that the pro-
posed approach can effectively compensate the load-generated
harmonics.
B. Response of SH-AF to Current-Source
Type of Nonlinear Load Variation
In order to study the dynamic performance and the stability
properties of the proposed Lyapunov direct control method, the
system has been simulated under a 100% step change in the
load current. Fig. 7 shows the transient responses of the SH-
AF system that adopted the Lyapunov-function-based control
strategy for a step increase and decrease of the load current
by the same ratio at t
1
= 0.57 s and t
2
= 0.67 s, respectively.
RAHMANI et al.: LYAPUNOV-FUNCTION-BASED CONTROL FOR A THREE-PHASE SHUNT HYBRID ACTIVE FILTER 1425
Fig. 5. Steady-state response of the SH-AF with a three-phase current-source
type of nonlinear load.
Fig. 6. Spectrum of the source current in phase 1. (a) Source current before
compensation. (b) Source current after compensation.
These results conrm the fast dynamic performance of the SH-
AF that adopted the Lyapunov-function-based control strategy
for a rapid change in the current-source type of nonlinear load
current.
C. Harmonic Compensation of a Voltage-Source
Type of Nonlinear Load
Fig. 8 shows the steady-state simulation results of the pro-
posed controller for the compensation of harmonics by the
SH-AF system with the voltage-source type of nonlinear load.
The waveforms of the supply voltages (v
s123
), supply cur-
rents (i
s123
), load currents (i
L123
), hybrid active lter currents
(i
c123
), and dc voltage (v
dc
) are presented to demonstrate the
ltering performance of SH-AF for the voltage-source type of
nonlinear load. The harmonic analyses of the supply current in
phase 1 before and after compensation are shown in Fig. 8(a)
Fig. 7. Dynamic response of the SH-AF under varying distorted current-
source type of nonlinear load conditions.
Fig. 8. Steady-state response of the SH-AF for voltage-source type of non-
linear load.
and (b), respectively. The corresponding THD of the supply
current has reduced from 36% before compensation to 3% after
compensation, which shows the effectiveness of the proposed
Lyapunov-function-based control strategy (Fig. 9).
D. Response of SH-AF to Voltage-Source
Type of Nonlinear Load Variation
The transient performance of SH-AF that adopted the
Lyapunov-function-based control strategy is tested with a step
increase and decrease in voltage-source type of nonlinear load
current of 100% at t
1
= 0.57 s and t
2
= 0.67 s, respectively;
the corresponding results are shown in Fig. 10. These wave-
forms show the dynamic capability of SH-AF to compensate
harmonic currents of the load under this sudden variation in
voltage-source type of nonlinear load. It can be seen that both
1426 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 59, NO. 3, MARCH 2012
Fig. 9. Harmonic spectrum of the source current in phase 1. (a) Before
compensation. (b) After compensation.
Fig. 10. Dynamic response of SH-AF under varying distorted voltage-source
type of nonlinear load conditions.
the supply current and the dc capacitor voltage exhibit a fast
transient response, achieving stable operation of the closed-
loop system.
VII. EXPERIMENTAL RESULTS
The proposed Lyapunov-function-based control strategy is
experimented on a 2.5-kVA laboratory prototype of the SH-AF
with the specication given in Table I. It is implemented with
a dSPACE DS1104 controller board driven by the Real-Time
Workshop toolbox of Matlab/Simulink. The utility-side voltage
for phase 1 is measured downstream of an ac transformer with
a 0.1 transformation ratio. This supply voltage for phase 1 and
the dc bus voltage are sensed through proper voltage-sensing
circuitry. The actual load and hybrid active lter currents for
phases 1 and 2 are sensed using a Hall effect current sensor
LEM LA-55P. The sensed signals, which constitute the input
signals to the DSP board through its analog-to-digital con-
verter (ADC) interface, are then isolated using isolation am-
pliers OPA 4131 and scaled to feed the ADC channels of the
DS1104 DSP.
The input signals are rst transformed from the three-phase
coordinates to the dq frame. A high passive lter is imple-
mented to extract the reference current harmonics. The steady-
state switching functions (D
nd
and D
nq
) are then extracted as
indicated in (13) by using Simulink functions. The Lyapunov
stability conditions are used to generate the global switching
functions d
nd
and d
nq
as indicated in (21). The latter signals are
compared with a carrier wave pulsewidth modulation (PWM)
current controller, resulting in gating pulses, which constitute
the input signals to the digital-to-analog converter (DAC) DSP
interface board.
The output of the DAC is also isolated using AD202 and fed
the gate drive of an insulated-gate bipolar transistor (IGBT)
of the SH-AF. The SH-AF consists of six IGBT modules
GA100TS60U of IR. The dc bus voltage is set to 50 V. The
sampling period has been set to 50 s. The switching frequency
of the PWM has been set to 500 s, which corresponds to
2 kHz. The SH-AF system was tested in the laboratory for four
different operating conditions such as the following: 1) steady-
state response to a current-source type of nonlinear load; 2)
dynamic response to a current-source type of nonlinear load;
3) steady-state response to a voltage-source type of nonlinear
load; and 4) dynamic response to a voltage-source type of
nonlinear load. These tests are aimed to validate the real-time
performance of the SH-AF system that adopted the proposed
Lyapunov-function-based control strategy. Note that all the
following experiments were adjusted to t with the rms current
limit of 10 A, imposed by the initial rating of the power stage
printed circuit board.
A. Steady-State Performance of the Hybrid Active Filter With
a Current-Source Type of Nonlinear Load
Fig. 11 shows the steady-state response of the Lyapunov-
function-based control applied to the SH-AF with a current-
source type of nonlinear load. In this gure, the top-to-bottom
waveforms are the supply voltage (v
s1
), supply current (i
s1
),
load current (i
L1
), and hybrid active lter current (i
c1
). The fre-
quency analyses of the supply voltage and supply current before
and after compensation in phase 1 are shown in Fig. 12(a)(c).
The THD of the supply voltage is 3.2%. The THD of the supply
current is decreased from 26% before compensation to 3.1%
after compensation. The dc bus voltage is well regulated to its
reference voltage 50 V. The results shown in Fig. 11 conrm
that the SH-AF system is able to improve the quality of power
and reduces the THD in the current (3.1% THD) at the point of
common coupling (PCC).
B. Dynamic Performance of the Hybrid Active Filter With a
Current-Source Type of Nonlinear Load
The load current has been subjected to 100% step increase
and decrease. Fig. 13 shows the dynamic response of the
RAHMANI et al.: LYAPUNOV-FUNCTION-BASED CONTROL FOR A THREE-PHASE SHUNT HYBRID ACTIVE FILTER 1427
Fig. 11. Steady-state response of the SH-AF with a current-source type of
nonlinear load.
Fig. 12. Harmonic spectra of the source voltage and current in phase 1.
(a) Source voltage. (b) Source current before compensation. (c) Source current
after compensation.
SH-AF during sudden variation in current-source type of non-
linear load. This gure shows the dc bus voltage (v
dc
) of the
active lter of the SH-AF system, the supply current (i
s1
), the
load current (i
L1
), and the hybrid active lter current (i
c1
) of
one phase for sudden increase and decrease in load current. As
viewed from the experimental results, the changeover from one
operating condition to the other is quite smooth, maintaining
the perfect compensation. The dc bus voltage of the SH-AF is
regulated at its reference value, and there is an imperceptible
overvoltage appearing in the transient state. The fast dynamic
response of the SH-AF system is less than one cycle during the
variation of nonlinear load.
C. Steady-State Performance of the Hybrid Active Filter With
a Voltage-Source Type of Nonlinear Load
Harmonic currents of the voltage-source type of nonlinear
load are compensated using the proposed SH-AF system. This
Fig. 13. Dynamic response of SH-AF under varying distorted current-source
type of nonlinear load conditions.
Fig. 14. Steady-state response of the SH-AF with a voltage-source type of
nonlinear load.
voltage-source type of nonlinear load consisting of a three-
phase diode rectier with a dc capacitive lter replicates the
behavior of a typical industrial adjustable-speed drive load.
Fig. 14 shows the steady-state response of the SH-AF em-
ploying the proposed Lyapunov direct method. The frequency
analyses of the supply voltage and current before and after com-
pensation are shown in Fig. 15(a)(c). The THD of the supply
voltage is 3.2%. The THD of the source current is decreased
from 36% before compensation to 4.2% after compensation.
The experimental results have demonstrated the improved l-
tering performance of the SH-AF, and they have validated the
proposed Lyapunov-function-based control strategy of the SH-
AF for the reduction of harmonic currents of the voltage-source
type of nonlinear load. It is signicant to point out that, even
when the utility voltage has a THD of 3.2%, the SH-AF system
is able to reduce the source current THD (4.2%) well below the
IEEE-519 standard requirement (5%).
1428 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 59, NO. 3, MARCH 2012
Fig. 15. Harmonic spectra of the source voltage and current in phase 1.
(a) Source voltage. (b) Source current before compensation. (c) Source current
after compensation.
D. Dynamic Response of the SH-AF With a Voltage-Source
Type of Nonlinear Load
In order to study the dynamic performance of the proposed
Lyapunov-function-based control strategy of the SH-AF, a step
change in voltage-source type of nonlinear load is made by
an increase and decrease of 100% of the load current. Fig. 16
shows the dynamic response of the dc bus voltage controller
of the SH-AF. The uctuation in the dc bus voltage of the
lter depends on the compensation speed of the outer loop
that regulates the dc bus voltage. A sudden increase in the
load power of this rectier type of nonlinear load results in a
decrease of the dc bus voltage of the SH-AF system, which
recovers within a few cycles. The dc bus voltage of the SH-
AF has been well regulated close to its reference value, and
a very low magnitude of overvoltage on the order of 10% of
V
dc
has been observed in the dynamic condition. The dynamic
response of the SH-AF system during load variation is observed
less than one cycle. This demonstrates the ability of the SH-AF
that adopted the Lyapunov-function-based control strategy to
work suitably for varying voltage-source type of nonlinear load
conditions.
VIII. CONCLUSION
A Lyapunov-function-based control algorithm for a SH-AF
has been proposed and implemented to enhance its response to
compensation of harmonics of nonlinear loads. The laboratory
prototype of the SH-AF system has been developed utilizing
a DS1104 DSP of dSPACE and tested for different operating
conditions. The SH-AF using a shunt active lter with a series-
connected passive lter has complementary function to improve
the performance of ltering and to reduce power rating require-
ments of an active lter because they share the responsibility
of the compensation between them. Although the proposed
Fig. 16. Dynamic response of the SH-AF under varying distorted voltage-
source type of nonlinear load conditions.
scheme does not handle full reactive power compensation, the
control technique is designed based on Lyapunov energy to
make the system globally stable. It has been observed that
there is good performance in both steady-state and transient
operations. The simulation and experimental results validated
the proposed control approach of the SH-AF. The observed
performance, through analyzing the results, has demonstrated
the ability of the proposed control technique of SH-AF to com-
pensate the current harmonics effectively under distorted source
conditions. It has also been shown that the control strategy has
a fast dynamic response during large load variations and is
able to keep the THD of the voltage at PCC and the supply
currents well below the mark of 5% specied in the IEEE-
519 standard. The SH-AF employing the proposed Lyapunov-
function-based control strategy has been found suitable for
voltage- and current-source types of nonlinear loads. The ob-
tained results have demonstrated the high performance level
of the SH-AF. Hence, the SH-AF system can be an effective
and economic solution for harmonic problems caused by large-
capacity nonlinear loads.
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Salem Rahmani (M06) was born in Tunisia.
He received the B.Sc.A. and M.Sc.A. (electrical)
degrees and the Specialized Scientic Studies Cer-
ticate (CESS) from the High School of Sciences
and Technologies of Tunis (ESSTT), Tunis, Tunisia,
in 1992, 1995, and 2001, respectively, and the Ph.D.
degree from the National Engineering School of
Tunis (ENIT), Tunis, in 2004.
In September 2002, he was an Assistant Professor
with the Department of Electrical Engineering, High
Institute of Medical Technologies of Tunis (ISTMT),
Tunis. Since the elaboration of his Ph.D. degree, he has been a Member of the
Power Electronics and Industrial Control Research Group (GREPCI), cole
de Technologie Suprieure, University of Qubec, Montreal, QC, Canada. His
elds of interest include power quality, active lters, and resonant converters,
including power converter topology, modeling, and control aspects.
Abdelhamid Hamadi (S07) was born in Bjaia,
Algeria, in 1958. He received the B.Eng. degree from
the University of Polytechnics of Alger, Algiers,
Algeria, in 1987 and the M.S.Tech. degree in
electrical engineering from cole de Technologie
Suprieure, University of Qubec, Montreal, QC,
Canada, in 2004, where he is currently working
toward the Ph.D. degree in the Department of Elec-
trical Engineering.
His research interests include application of power
electronics in distribution systems, power quality
analysis, active power lters, hybrid power lters, series hybrid lters, and
passive lters.
Kamal Al-Haddad (S82M88SM92F07) was
born in Beirut, Lebanon. He received the B.Sc.A. and
M.Sc.A. degrees from the Universit du Qubec
Trois-Rivires, Trois-Rivires, QC, Canada, in 1982
and 1984, respectively, and the Ph.D. degree fromthe
Institut National Polytechnique, Toulouse, France,
in 1988.
From June 1987 to June 1990, he was a Professor
with the Engineering Department, Universit du
Qubec Trois-Rivires. Since June 1990, he has
been a Professor with the Department of Electrical
Engineering, cole de Technologie Suprieure (ETS), University of Qubec,
Montreal, QC, where he was the Director of graduate study programs at ETS
from 1992 to 2003 and has been the holder of the Canada Research Chair
on Electrical Energy Conversion and Power Electronics since 2002. He has
supervised more than 70 Ph.D. and M.Sc.A. students working in the eld
of power electronics. He is a Consultant and has established very solid link
with many Canadian industries working in the elds of power electronics,
electric transportation, aeronautics, and telecommunications. He is the Chief
of ETSBombardier Transportation North America Division, a joint industrial
research laboratory on electric traction system and power electronics. He is the
coauthor of the Power System Blockset software of Matlab. He has coauthored
more than 300 transactions and conference papers. His elds of interest
are in high efcient static power converters, harmonics and reactive power
control using hybrid lters, switch mode, and resonant converters, including
the modeling, control, and development of prototypes for various industrial
applications in electric traction, power supply for drives, telecommunica-
tion, etc.
Dr. Al-Haddad is a fellow member of the Canadian Academy of Engineering
and a life member of the Circle of Excellence of the University of Qubec. He
was the recipient of the Outstanding Researcher Award from ETS in 2000. He is
active in the IEEE Industrial Electronics Society, where he is the Vice President
for Technical Activities and an AdCom member and serves as an Associate
Editor of the IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS.