IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 51, NO.

2, APRIL 2004

401

An Adaptive Controller in Stationary Reference

Frame for D-Statcom in Unbalanced Operation

Gerardo Escobar, Aleksandar M. Stankovic, Senior Member, IEEE, and Paolo Mattavelli, Member, IEEE

AbstractThis paper presents a passivity-based controller for a

Distribution Static synchronous Compensator (D-Statcom) aimed
at compensating reactive power and unbalanced harmonics in the
general case of distorted and unbalanced source voltages and load
currents. The proposed approach is based on the measurements
of line currents, and ensures precise compensation for selected
harmonics. Moreover, in order to compensate for the unavoidable
uncertainty in certain system parameters, adaptation is added to
the passivity-based controller. One of the major advantages of the
proposed solution compared to conventional alternatives is that
we are able to perform precise tracking (including higher order
harmonics) even in the presence of a relatively low switching frequency, i.e., in the presence of an inverter with limited bandwidth.
Simulation and experimental results are provided to illustrate the
merits of our solution.
Index TermsActive filters, adaptive control, dissipative systems, nonlinear systems, reactive power control.
Fig. 1. Shunt connection of the STATCOM to the line.

I. INTRODUCTION

LEXIBLE ac transmission systems (FACTS) [4] based on

voltage-source inverters (VSIs), such as static synchronous
compensators (Statcoms), are finding increased utilization in
power systems because of their ability to provide improved
performance compared with conventional thyristor-based
converters. Moreover, at the distribution level, especially in
the medium-voltage applications, the pulsewidth-modulation
(PWM) switching frequency of Distribution Statcoms (D-Statcoms) can be increased to a few kilohertz (15 kHz). Then,
the compensation of low-order harmonics becomes possible to
comply with harmonic standards (such as IEEE 519), emulating
the typical active filter behavior. For such purpose, however,
conventional techniques [1] used for active power filters seem
to reduce the achievable performance mainly due to the limited
control bandwidth, delays in digital implementation, and
interaction with load and line dynamics [2].
To overcome these limitations, we present an adaptive
control based on the ideas of passivity theory [6] for reactive
power, unbalance and selective harmonic compensation using
a D-Statcom. The proposed approach is based on the mea-

surements of line currents, and ensures precise compensation

for some harmonics, regardless of the limited switching frequency. Moreover, we follow an approach that ensures, for any
compensated frequency, that the line currents are proportional
to the line voltages, so that the same apparent resistance is
observed in all phases and at all compensated frequencies,
for any unbalanced and distorted supply and load conditions.
The proposed energy-shaping controller requires adaptation
and estimation of rotating frame quantities. However, the
complexity of the rotating frame approach is reduced using
an equivalent representation in the stationary reference frame,
similarly to [8]. The resulting control structure is in a way
related to selective harmonic compensation proposed recently
in the literature [7], [9]. When compared with existing solutions, we provide improvements in terms of robustness against
parameter uncertainties, stability in presence of load capacitive
components, and precise tracking for a D-Statcom with low
switching frequency. Simulation and experimental results are
provided to assess the performance of our controller.
II. SYSTEM MODEL

Manuscript received March 1, 2001; revised April 1, 2003. Abstract published

on the Internet January 13, 2004.
G. Escobar is with the Department of Applied Mathematics, Research Institute of Science and Technology of San Luis Potos (IPICYT), San Luis Potos,
SLP 78216, Mxico (e-mail: gescobar@ipicyt.edu.mx).

A. M. Stankovic is with the Department of Electrical and Computer

Engineering, Northeastern University, Boston, MA 02115 USA (e-mail:
astankov@ece.neu.edu).
P. Mattavelli is with the Department of Electrical, Mechanical and Management Engineering (DIEGM), University of Udine, 33100 Udine, Italy (e-mail:
mattavelli@uniud.it).
Digital Object Identifier 10.1109/TIE.2004.825270

A three-phase three-wire of VSI working as a D-Statcom (or

as a PWM rectifier) is depicted in Fig. 1. The system is mainly
designed to compensate reactive power, unbalance, and harmonics in distribution lines. The need for compensation arises
from nonlinear and distorting loads that we represent as a current source . This main task is performed by injecting to the
) to force the
line the compensating currents (
on each line to be proportional to the respective
currents
. To accomplish this, the capacitor
source line voltage

0278-0046/04$20.00 2004 IEEE

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 51, NO. 2, APRIL 2004

is charged to a certain voltage value

and kept at this value
during the normal operation by the controller. Switching and
other losses are aggregated and modeled as an unknown con. Since both the load current and the
stant resistive element
source voltages are allowed to be distorted and unbalanced, the
amplitudes and phase angles could take arbitrary values.
The dynamics of this system can be expressed by the following model:

Under these considerations the averaged model can be written

as follows:
(2)
(3)
Notice that the injected voltage term
, appearing in the
system model, will generate harmonics other than those associated with each factor, unless the control contains a term
that directly cancels . For such purpose, the whole injected
voltage is used as control input variable, introducing the following transformation:

where
compensating currents (
);
currents produced by the load (
);
voltages coming from the source (referred to )
(
);
voltages at the input of the VSI (referred to )
);
(
voltages at the input of the VSI (referred to VSI
neutral point ) (
);
(
);
voltage between points and ;
vector of switch positions
(
);
filter inductance;
parasitic resistance of filter inductance;
output capacitor;
resistive element collecting switching (and other)
losses plus an optional load resistance.
The second equation is derived from the power balance across
the lossless VSI. Due to the fact that
, taking parameters and the same for each branch, and
assuming that
, we obtain

The resulting model is

(4)
(5)
Our solution requires the transformation of the model (4) and
(5) into conventional stationary
coordinates; for this reason
transformation:
we perform the following
(6)

whose pseudoinverse transformation is defined by

.
Moreover, with the idea of reducing the number of current
sensors, we describe the system in terms of the source currents
instead of the shunt currents
, so that the only current
needed to evaluate the control action will be
. Thus, after
coordinates, and using the relationship
the transformation to
, the model takes the form
(7)

(1)

(8)

so that the vector of voltages at the input of the VSI (referred to

the neutral of the power grid) can be computed as follows:

,
where we have defined the new control input
is bounded away from zero, and used
where we assume that
, with a 2 2 identity matrix. Morethe fact
over, we neglect the parasitic resistance , since its presence
only adds damping to the system.
The control objective consists in injecting the necessary currents so that from the source terminals the same apparent resistance is observed in all phases and at all selected frequencies.
Thus, the current provided by the source should be forced to
track a reference which is proportional to the voltages generated by the source, that is,

For the control design purpose, we will consider an averaged

variant of the model described above. We assume that a sufficiently high frequency is used to implement the switching control sequence (using, for instance, PWM), so that we can replace
vector by the corresponding duty ratio
which is a vector of continuous signals approximating the actual controller.

(9)
with a scalar, yet to be determined, that represents the apparent conductance. Indeed, due to the limited inverter bandwidth, we will focus on selective harmonic compensation so that

ESCOBAR et al.: ADAPTIVE CONTROLLER IN STATIONARY REFERENCE FRAME FOR D-STATCOM

we attempt to satisfy (9) only for certain specific harmonics; evidently, more accurate tracking can be guaranteed as more harmonics are taken into consideration.
and source voltage
We assume that load current
are (independently) unbalanced periodic signals that contain
higher harmonics of the fundamental frequency denoted by
(10)

403

form (14) yields the following controller for

Solving for
the known parameters case:
(15)
Subsystem (7) in closed loop with controller (15) yields the
following exponentially stable error system:

(11)
where

Hence, the controller above guarantees exponentially tracking

toward its reference
.
of current
can be computed using (9) and
The time derivative
(12) as

is a rotation matrix of the form

Vectors
,
are the
harmonic coefficients
for the positive- and negative-sequence representation of the
,
for the source voltage;
current load and
is the set of selected harmonics indices.
Again, all load current and source voltage harmonic coefficients
are assumed to be unknown constants, or slowly varying signals.
Their time derivatives can be explicitly derived as follows:

(16)
Substitution of (13) and (16) in controller (15) yields

(12)
(13)
which can be reduced to
III. CONTROLLER DESIGN
In what follows we assume that current dynamics represented
by (7) in the system model responds much faster than the dynamics involving the capacitor (8). This is typically satisfied
and, at the same time, both reduces the complexity of the resulting controllers, and simplifies the control design by splitting
it into two stages: current (inner loop) and voltage (outer loop)
control design.
A. Inner Control Loop
The objective of this first step is to guarantee tracking of
signal
, whose dynamics is described by (7), toward its ref. In the known parameters case, we may proceed to
erence
apply the energy shaping plus damping injection (ESDI) procedure proposed in [6]. Following the ESDI procedure, a copy of
is replaced by
subsystem (7) is proposed where the state
and a term of damping is added, this
the desired reference
yields the system

(17)
where we have defined

to lump together all harmonic coefficients.

and
are distorted and unbalanced, their
Since both
time derivatives, required in the controller (15), cannot be computed in a straightforward manner. This is the main motivation
for the introduction of the harmonic decomposition.
If we assume that and converge very slowly toward some
constant values, then
and
can be considered approximately constant vectors as well. Thus, motivated by the form of
controller (17) and assuming that the inductance and all the
harmonic coefficients are unknown we propose the following
controller:

(14)
, and
is a positive-definite design
where
matrix, used to introduce the required damping.

(18)

where

is used to represent the estimates.

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 51, NO. 2, APRIL 2004

The controller (18) in closed loop with the subsystem (7)

yields the error dynamics

(24)

(19)

Writing the dynamical part of the controller above in the form

,
of transfer functions, and defining
, yields the final expressions

where
and
, and they represent
the parametric errors.
Next, following a Lyapunov approach [18], we derive the
and
(
).
adaptive laws to reconstruct parameters
For this purpose, a positive-definite function is proposed which
is then forced to decrease along the trajectories of both, the
tracking error and the parametric errors dynamics. A quite
simple choice is the following quadratic function in terms of
the square of the tracking error and the parametric errors:

where
(
) are design parameters representing the
adaptation gains as will become clear in what follows.
Its time derivative along the trajectories of (19) is given by

which is made negative semidefinite by proposing

(20)
(21)
where we used the fact that
and
and
are assumed constants.
since
The time derivative is finally given by

),

Now, we can state that

as
asymptotically. Moreover, following LaSalles theorem [18],
implies that
and
are constants; according to (19), the
sum of these two vectors (rotating in opposite directions) should
be zero, which holds only for
(
), and
thus guaranteeing convergence of the estimates toward their true
values.
appearing in the
To avoid the rotations of the form
controller specification we consider the transformation

(25)
(26)
where is the Laplace complex variable. The resulting controller thus includes a resonant filter tuned at the selected frequency for each harmonic under concern [19].
B. Outer Control Loop
In this second stage we design an outer control loop
ensuring that the dc component of the output voltage
is
driven to some predefined constant reference . The average
of a signal
taken over a period of the fundamental, that is,
stands for the dc component.
The design of such an outer control loop is reduced to the
in
computation of the gain used in the definition of
(9), as we clarify shortly. This outer control loop should add
damping to reinforce the asymptotic stability of the closed loop
system, and should incorporate robustness to reject parametric
uncertainties.
As previously noted, we assume that the dynamics of the
current control loop is much faster than the dynamics of the
outer control loop. Thus, after a relatively short time, the currents have reached perfect tracking on their references. Thereand
fore, in what follows we assume that
. Direct substitution of the control (22) in (8), under this
assumptions, yields the following expression for the capacitor
voltage dynamics:

where we have defined

.
Moreover, since the control objective mainly focus on the
), we consider the
regulation of the dc component of (or
following subsystem for design where we have neglected the
higher order harmonics
(27)
where
given by

Finally, the inner loop controller can be expressed as

(22)
with adaptive laws (20) and (21) transformed now to
(23)

, and the constants

and

are

ESCOBAR et al.: ADAPTIVE CONTROLLER IN STATIONARY REFERENCE FRAME FOR D-STATCOM

405

which are assumed to be unknown. We remark that

an thus
. In.
deed,
Notice that system (27) is a linear time invariant (LTI) system.
Indeed, it is a simple first-order stable linear system, having as
output the state and as control input the signal , perturbed by
an unknown constant signal . Moreover, notice that control
input is affected by the positive constant . It is clear that a
simple proportional plus integral (PI) controller would solve the
problem since the perturbation is simply an unknown constant.
However, we observed that direct use of in the proportional
term (using a standard PI controller to construct ), causes more
, allowing the introduction of more harmonics
distortion in
into the line. Instead, we propose to substitute the proportional
term by a low-pass filter (LPF) aimed at reducing the effects of
distortion present in . The proposed dynamical controller takes
the form
(28)
where , , , and are design parameters.
The state-space representation of both the plant (27) and the
dynamical controller (28) yields the following dynamics:

where we used
,
, and
.
The equilibrium point of this LTI system is given by
. Following classical tools,
like the RouthHurwitz criterion, it can be proved that this
equilibrium point is stable provided , , , and are all
chosen positive. Notice that in the equilibrium point
holds.
The final expressions for the overall controller, including
inner and outer control loops, are

In conclusion, the proposed controller allows the active filter

to inject the appropriate current in such a way that the current
observed by the power source asymptotically follows a
, i.e., guarreference proportional to the source voltage
antees reactive power and load current harmonics compensation. Indeed, the proportionality gain represents the equivalent
conductance observed by the power source. The controller also
close to a desired level ,
maintains the capacitor voltage
.
in spite of the inherent losses represented by the resistance

Fig. 2.

Block diagram of the proposed controller.

Notice that, besides the frequency , all controller expressions

are independent of system parameters, which makes the controller robust with respect to parameter uncertainties. Indeed,
step changes and slow variations of them can be absorbed by
the controller. Since we have considered the negative-sequence
component of signals in our derivations, the proposed controller
remains valid under unbalanced operation. Fig. 2 represents the
block diagram of the proposed controller where we can identify
the inner loop, mainly consisting of the second-order filters at
resonant frequencies of the selected harmonics, and the outer
loop, mainly consisting of an LPF plus an integrator.
C. Design Criteria for Controller Parameters
We use an approximate procedure to find an initial setting of
controller parameters for the current loop. First, the matrix cocan be set as
, where
is a convenefficient
tional proportional gain of a PI controller. Accordingly, we can
to be equal to
, where
is the desired current
set
of the sampling frequency.
loop bandwidth, usually
Second, the remaining transfer function seen by the set of band, plus a pole at . Disregarding,
pass filters is given by
for simplicity, the influence of such pole, we can set the gain
as
, where
is the desired response time for
each harmonic component (evaluated between 10%90% of a
step response of the amplitude of the corresponding sinusoidal
perturbation). This relation is exact only when different bandpass filters give independent contributions. In a general case,
however, this procedure gives a useful estimate of controller parameters given the desired response time for various harmonic
components.
In the outer loop, parameter selection is guided by conventional techniques given the desired voltage loop bandwidth and
phase margin. Note, however, that due to the ripple on the dc
voltage at twice the supply frequency during unbalanced conditions, the voltage loop bandwidth should be limited to approximately 1020 Hz in order to avoid possible amplification of the
second harmonic in the line current reference.

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 51, NO. 2, APRIL 2004

(a)

(b)

01) scaled 0.15 2

Fig. 3. () Current load i

and (
condition and (b) second condition.

( ) for (a) first

Fig. 6. Steady-state response (only  component) during the second load

condition (from top to bottom): voltage v (t), compensated current i (t),
current load i (t), and injected current i (t).

01

Fig. 4. Transient response of () i

and ( ) scaled 0.05 v
(t) when
the compensation is enabled at t = 0:5 s (top)  component and (bottom) 
component.

Fig. 7.

Fig. 5. Transient response of v (t) when the compensation is enabled at t =

0:5 s and during the load change at t = 1 s.

IV. SIMULATION RESULTS

For the purpose of simulation we consider a system model
on the averaged variables (i.e., the effects of the switching frequency are blurred), and we use the following parameters:
mH (parasitic resistance
),
F,
K , at a constant frequency
Hz. Control design paV,
rameters:
,
,
,
,
,
, and
.
We will consider two conditions of the current loadat the
beginning the system load takes the form shown in Fig. 3(a),
s the second load shown in Fig. 3(b) is
then after time
applied. The first current load is composed of a fundamental,
3rd and 5th harmonics, which are independently unbalanced.
The second load consists of a three-phase diode rectifier plus
an unbalanced load. The voltage source is composed of fundamental, 3rd and 5th harmonics also unbalanceda scaled plot
is provided in both figures for comparison.
0.15
The compensation for harmonics and reactive power is not
s. Thus, during the first 0.5 s the
activated until time
system is working as a simple synchronous rectifier, which al-

Spectrum of compensated current i

( ).

lows the system to regulate

to
V, as shown
in Fig. 5 (without harmonic or reactive power compensation).
s, the compensation for the first load curAt time
rent condition commences. In Fig. 4, the compensated currents
are presented, together with the scaled source voltages
. Notice in Fig. 5 that, after a relatively short tran0.15
maintains its average of
V; its
sient, the voltage
second harmonic is mainly caused by compensation of the unbalanced fundamental component.
s, the load current takes the shape shown in
At time
Fig. 3(b). In Fig. 6 we present the current response (only for the
coordinate) due to the second load condition during the steady
state. The spectrum of the compensated current (normalized to
is shown in Fig. 7 (a similar
the fundamental amplitude)
). In Fig. 5 the response of voltage
plot can be obtained for
is shown following the change on the load current; the
controlled voltage again reaches its desired value after a short
transient.
V. EXPERIMENTAL RESULTS
The system of Fig. 1 has been experimentally tested using
a reduced-scale prototype with the following parameters:
mH,
F,
V, switching frequency
kHz, output voltage frequency
Hz, and selected frequencies: 1st, 3rd, 5th, 7th 9th, 1st, and 3rd. Moreover,
the voltage loop bandwidth has been set to 10 Hz.

ESCOBAR et al.: ADAPTIVE CONTROLLER IN STATIONARY REFERENCE FRAME FOR D-STATCOM

407

Fig. 8. Active filter behavior with the proposed solution (from top to bottom):
line voltage (150 V/div), line current (10 A/div), load current (10 A/div), and
active filter current(10 A/div).

Fig. 10.

Line current spectrum with the proposed solution (10 dB/div).

Fig. 9. Active filter behavior with PI control on line currents (from top
to bottom): line voltage (150 V/div), line current (10 A/div), load current
(10 A/div), and active filter current(10 A/div).

Fig. 11.

Line current spectrum with PI control on line currents (10 dB/div).

Control parameters have been chosen so as to impose a transient response for the harmonic currents equal to one line period
for all frequencies up to the 9th and equal to two line periods for
the 11th and 13th components.
The results of the proposed control with three-phase diode
rectifier loads are reported in Figs. 8 and 10. Note that the quality
of the line currents is very good and all selected harmonics have
been largely compensated. In order to compare the performance
of the proposed solution with a typical existing solution, we
implemented a PI controller based on line currents, following
the so-called line current detection method. The results obtained
are reported in Figs. 9 and 11. In this case, note that the residual

line currents is much more distorted (resulting in an increase of

more than 10 dB for the 5th, 7th, and 13th components) because
of the low control bandwidth limited by the switching frequency
and the delay inherent to the digital implementation.
To test the dynamic properties of the proposed controller, the
active filter behavior during the turn-on of a distorting load is
reported in Figs. 12 and 13. Note that the harmonic correction
settles within 12 line periods, while the dc-link regulation takes
around 67 line periods to recover the nominal value, as predicted by our analysis.
As a final test for unbalanced conditions, we have applied a
single-phase line load together with a three-phase rectifier load,
as shown in Fig. 14. Note that the proposed control is able to

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 51, NO. 2, APRIL 2004

Fig. 13. Active filter behavior with the proposed control during turn-on of
distorting load (from top to bottom): turn-on signal, line current (10 A/div), and
dc-link voltage error (5 V/div).

control the line currents in a balanced manner, even during unbalanced conditions, as reported in Fig. 15.
VI. CONCLUSION
This paper has presented a selective harmonic control for
a D-Statcom using passivity theory. The proposed solution
uses measurements of line currents only, and performs a
closed-loop control for each selected harmonic to achieve
reactive power, unbalance and harmonic compensation in
distorted and unbalanced operating conditions. One major

Fig. 14.

Line currents with distorting and unbalanced loads (10 A/div).

Fig. 15.

Fig. 12. Active filter behavior with the proposed control during turn-on of
distorting load (from top to bottom): turn-on signal, line current (10 A/div),
load current (10 A/div), and active filter current(10 A/div).

Load currents with distorting and unbalanced loads (10 A/div).

advantage of this approach for applications where harmonics

in the currents and voltages vary slowly is that we are able to
perform precise tracking (also for harmonics) even with relatively low switching frequency. Moreover, we add adaptation
to the passivity-based control to compensate for the delay of
the digital implementation, and for the unavoidable uncertainty
in some of the parameters. Design guidelines, simulation, and
experimental results were provided to validate analytical results
and to illustrate the performance of the proposed solution.
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409

Gerardo Escobar received the Ph.D. degree from

the Signals and Systems Laboratory, LSS-SUPELEC, Paris, France, in 1999.
He was a Technical Assistant in the Automatic
Control Laboratory of the Graduate School of
Engineering, National University of Mexico, from
May 1990 to April 1991. From August 1991 to
August 1995, he was an Assistant Professor in the
Control Department of the Engineering Faculty,
National University of Mexico. He was a Visiting
Researcher at Northeastern University, Boston
MA, from August 1999 to June 2002. In July 2002, he joined the Research
Institute of Science and Technology of San Luis Potos (IPICyT), San Luis
Potos, Mxico, where he holds a Professor-Researcher position. His main
research interests include modeling and control of power electronic systems,
in particular, the control of active filters, inverters, and electrical drives using
linear and nonlinear control design techniques.

Aleksandar M. Stankovic (S88M93SM02) received the Dipl. Ing. and M.S. degrees from the University of Belgrade, Belgrade, Yugoslavia, in 1982
and 1986, respectively, and the Ph.D. degree from
Massachusetts Institute of Technology, Cambridge,
in 1993, all in electrical engineering.
Since 1993, he has been with the Department of
Electrical and Computer Engineering, Northeastern
University, Boston, MA, where he is currently a
Professor. His research interests are in modeling,
analysis, estimation, and control of energy processing systems.

Dr. Stankovic is a member of the IEEE Power Engineering, IEEE Power Electronics, IEEE Control Systems, IEEE Circuits and Systems, IEEE Industry Applications, and IEEE Industrial Electronics Societies. He was an Associate Editor of the IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY during
19972001, and presently serves the IEEE TRANSACTIONS ON POWER SYSTEMS
in the same capacity.

Paolo Mattavelli (S93A96M00) received the

Dr. degree with honors and the Ph.D. degree from
the University of Padova, Italy, in 1992 and 1995,
respectively, both in electrical engineering.
From 1995 to 2001, he was a Researcher at the
University of Padova. In 2001, he joined the Department of Electrical, Mechanical and Management
Engineering (DIEGM), University of Udine, Udine,
Italy, where he has been an Associate Professor of
Electronics since 2002. His major fields of interest
include analysis, modeling, and control of power
converters, digital control techniques for power electronic circuits, active
power filters, and high-power converters.
Dr. Mattavelli is a member of the IEEE Power Electronics, IEEE Industry
Applications, and IEEE Industrial Electronics Societies, and the Italian Association of Electrical and Electronic Engineers (AEI).