IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 22, NO.

1, JANUARY 2007 139

Comparison of Simple Control Strategies of

Space-Vector Modulated Indirect Matrix
Converter Under Distorted Supply Voltage
Matti Jussila, Student Member, IEEE, and Heikki Tuusa

AbstractThis paper concerns the effect of symmetric supply

voltage harmonics in a space-vector modulated three-phase in-
direct matrix converter (IMC). The IMC is modulated using
indirect space-vector modulation. The effect of symmetric supply
harmonics on load voltages and currents is analyzed using
space-vector presentation. The measurement and simulation
results with distorted supply voltages are compared to the results
with pure sinusoidal supply voltage. Four simple control methods
of IMC are tested in simulations and measurements: 1) open-loop
control without measurements (Method I); 2) calculation of
modulation index using measured supply voltages (Method II);
3) closed-loop control of output currents (Method III); and 4)
combination of Methods II and III, i.e., closed-loop output current
control with supply voltage measurement (Method IV). All the
methods are easy to implement and do not require complicated
computing. It is noted that Methods II and IV, where modulation
index is calculated using measured supply voltage magnitudes,
can produce more sinusoidal load currents than Methods I and
III, which suppose ideal supply conditions.
Index TermsIndirect matrix converter (IMC).
I. INTRODUCTION
ATRIX converters have been studied widely since their
M principle was introduced in 1970 [1]. In recent years, re-
search on direct frequency conversion using matrix converters
(MCs) has become popular [2]. The main reason for the interest
in MCs is that they provides a compact solution for a four-quad-
rant frequency converter, which produces sinusoidal input and
output currents without passive components in dc link. The ab-
sence of dc link also has its disadvantages: unfiltered input and
output disturbances are carried through MC and additional com-
mutation strategies are needed to avoid a short-circuiting of the
supply or a cutting of the load current path. The outputinput
voltage ratio is also limited to 0.866 in linear modulation.
A conventional space-vector modulated direct matrix con-
verter (DMC) may be replaced by an indirect matrix converter
(IMC), which consists of separated line and load bridges as pre-
sented in Fig. 1 [3][7]. The IMC offers the same benefits and
disadvantages as the DMC, but it also provides an option to re-
duce the number of active switches of the line bridge to three if
no bidirectional power flow is needed [5], [6].
Manuscript received August 24, 2005; revised January 20, 2006. This paper
was presented in part at PESC05, Recife, Brazil, June 1216, 2005. This work
was supported by the Fortum Foundation (Fortumin sti). Recomended for
publication by Associate Editor J. Rodriguez.
The authors are with the Institute of Power Electronics, Tampere University
of Technology,Tampere FI-33101, Finland (e-mail: matti.jussila@tut.fi).
Digital Object Identifier 10.1109/TPEL.2006.886654
0885-8993/$20.00 2006 IEEE
Fig. 1. Indirect matrix converter.
MCs with abnormal supply conditions have been studied,
e.g., in [8][15], of which [8][10], [12], and [15] focus on
unbalanced and sinusoidal situations. However, for example,
in industry low-voltage mains can be distorted by three-phase,
full-bridge diode rectifiers with capacitive load. In that case,
all three phases are equally distorted and voltages remain sym-
metric, i.e., they are not unbalanced. These kinds of supply volt-
ages are quite likely in the future with MCs commercial ap-
plications and thus their effects are studied in this paper. When
there is harmonic distortion in supply voltages a choice between
input and output current quality has to be made [14].
In many papers, covering abnormal supply conditions the
main concern has been the quality of the supply current [9][12],
and [15]. In this paper, the load current quality is a primary
value and the supply current quality is a secondary value. Thus,
the quality of output power is considered more important than
the quality of the current drawn from a supply whose voltages
are already distorted. Naturally, the standards and environment
set different limits in individual cases. Thus, it is important to
have knowledge about the quality of output power produced
by simple open- and closed-loop control methods of the IMC,
which can be implemented easily and cost-effectively.
Four simple control methods of the IMC are tested. The first
control method (Method I) is an open-loop control method,
which contains only the space-vector modulator without the
supply voltage or load current magnitude measurements [16].
Anyhow, Method I, like every other method considered here,
requires a zero crossing detection of one supply phase voltage
for synchronization of the input current reference. This does
not require A/D converters but can be implemented with sim-
pler electronics. The second control method (Method II) is
based on the measurements of the supply voltage magnitudes
[8][15] and likewise Method I does not contain closed-loop
load current control either. The third control method (Method
140 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 22, NO. 1, JANUARY 2007

III) is based on the load current control and only needs load
current measurements in addition to the measurements required
in Method I. The fourth control method (Method IV) studied is
a combination of Methods II and III. Hence, it needs both the
supply voltage magnitude and the load current measurements.
Methods I and II are suitable for drives where current sensors
are not otherwise used. Methods I and III are suitable for
applications where the magnitude measurements of supply
voltages are not applied.
All the methods are easy to implement and do not require
complicated computing. In addition, the simulation and mea- Fig. 2. Input phase current space-vectors of the IMC line bridge: (a) i >0
surement results will show that the methods produce line cur- and (b) i < 0. (c) Synthesis of the input current reference vector.
rents with remarkably lower distortion than full-bridge diode
rectifiers. The results will also show that Methods I and III
cannot compensate the effects of the supply voltage harmonics
as effectively as Methods II and IV because in those methods
ideal supply voltages are assumed.

II. EFFECT OF SUPPLY VOLTAGE DISTORTION

A. Space-Vector Modulation
The indirect space-vector modulation used for MC has been
presented in [4] and is directly suitable for IMC as presented
in [7]. It is based on the space-vectors of input voltages and
currents and output voltages, , , , respectively Fig. 3. (a) Output phase voltage space-vectors of the IMC load bridge. (b) Syn-
thesis of the output voltage reference vector.
(1)

a b c When the input voltages are purely symmetric and sinusoidal

and is constant. The displacement angle be-
tween the input voltage and current vectors is , which can
be assumed constant during one modulation period. Moreover,
(2)
when the input fundamental angular frequency is one can
write an equation for average dc link voltage during one modu-
lation period

(3)

where . (5)
In (2) , , and are the switching functions of the
IMC line bridge and is their space-vector. The allowed The line bridge is always modulated to produce maximum dc
switching states producing the input current space-vectors are link voltage so that [4], [7]
presented in Fig. 2. Reference vector is synthesized as a
time average of adjacent vectors and , whose duty cycles (6)
are and , respectively, as presented in Fig. 2(c).
In (3) , , and are the switching functions of Thus, the average link voltage on one modulation period is
the IMC load bridge and is their space-vector. The allowed
switching states producing output voltage space-vectors are pre- (7)
sented in Fig. 3(a). Reference vector is synthesized as a
time average of adjacent vectors and , whose duty cycles The calculation of the duty cycles is based on the modulation
are and , respectively, as presented in Fig. 3(b). index , which is equal to the modulation index of conventional
When the line bridge is assumed to be ideal the instant active voltage source inverter:
powers of line and dc link are equal. By substituting (2) into the
power equation it is possible to define the instant dc link voltage
(8)
[7]
(4) where in linear modulation [4], [7]. Substituting (7)
JUSSILA AND TUUSA: COMPARISON OF SIMPLE CONTROL STRATEGIES 141

into (8) we get

(9)

When the separate duty cycles of the line and load bridges, ,
and , , respectively, are combined the result is four ac-
tive duty cycles [4], [7], so that the output voltages desired are
produced directly from the three-phase input voltages

(10a)

(10b)

(10c)
(10d) Fig. 4. Block diagram of the IMC control methods.

For zero vector: .

B. Reflection of Supply Voltage Harmonic Distortion
The harmonic distortion in balanced three phase supply volt-
ages can be presented in space-vector form as
where the order of the harmonic component 6 1,
and 1. When the phase voltages are symmetrical and is
the fundamental angular frequency of the input, the space-vec-
tors of the harmonic voltage components are
when and
(11a)
when (11b)
In (11), is the phase-difference angle between the
nearest zero points of 6 1 th harmonic and the fundamental
component. With the help of (5) one gets for the average dc
link voltage
(12)
Thus, the averaged is not constant but it contains harmonic
ripple components in addition to the constant value presented
in (7). Thus, the result is quite the same as with the unbalanced
supply voltages presented in [8], when the dc link voltage con-
tains only the frequency component of 2 in addition to dc
value.
When the modulation frequency components of are ig-
nored, the substitution of (12) into (3) gives (13), shown at the
bottom of the page, where is the fundamental angular fre-
quency of the output voltage desired.
As can be seen in (13) the additional components in the
output voltage caused by input voltage distortion are in fre-
quencies 6 , where is the fundamental input frequency
and is the fundamental output frequency. The magnitudes of
those voltage components do not depend only on the magnitude
of each input harmonic but with suitable values of
voltage components and can compen-
sate each other.
III. CONTROL METHODS OF THE IMC
A. Method I
The first control method of the IMC (Method I) contains only
the vector modulator described in Section II-A and a possibility
to directly set voltage reference values and , which are
then used to produce two-axis components of voltage reference
and presented in Fig. 4. The modulation index
is calculated assuming both sinusoidal and balanced input volt-
ages, i.e., using fixed value for space-vector length
[16]. Thus, when is set at unity, which provides the
maximum voltage transfer ratio, the produced output voltages
include all the harmonics presented in (13)
(14)
The input current is modulated along the switching vector
, whose direction is . Thus the angle is also the
angle of input current reference space-vector and used to de-
fine the angle (Fig. 2) needed in (10). It is defined with the
help of the zero crossing detection of filtered supply voltage

(13)
142
resulting fundamental and the use of a software imple-
mented phase-locked loop (PLL). This is the simplest system
to synchronize input current reference vector to the supply volt-
ages [9]. With 1 the input current reference vector
has the same direction as the fundamental supply voltage
vector. The relation between the zero crossing of based fun-
damental phase angle and the direction of the switching
vector is 2. The phase shift caused
to by low-pass filtering of the for fundamental fre-
quency component is known and is compensated in the soft-
ware. The small fundamental phase shift between supply and
capacitor voltages is not compensated in this case because it was
found negligible. The other possibility to synchronize the input
current reference vector would be to detect the zero crossing
points of the filter capacitor voltage as suggested, e.g., in [12],
[17], and [18]. However, capacitor voltage contains more high
frequency modulation ripple and additional transients, caused,
e.g., by load transients, than the supply voltage. The result is
that supply voltage can be considered simpler and more secure
voltage for the zero crossing detection than capacitor voltage.
B. Method II
The second IMC control method (Method II) is based on the
calculation of the modulation index using measured line volt-
ages. The use of the input voltage measurement with space-
vector modulation to compensate the distortion has been pre-
sented in [10][13]. In [14], it is used with the Venturini method
and it is also applied in [15].
When the modulation index is calculated by (9) using actual
input voltages, it includes the harmonic content and the voltage
produced does not contain input harmonics
(15)
where again it is assumed that 1.
Also in this case the supply voltages , , and are
measured instead of capacitor voltages as presented in Fig. 4.
To filter modulation frequency components the first order
digital low-pass filter with the cut-off frequency of 3.18 kHz
was used in the software implementation. The reason for the
arrangement is that when the zero crossings are detected from
the supply voltage it is easier to measure the voltage magnitudes
from the same point than arrange another voltage measurement
setup. Naturally, the phase differences between the higher order
voltage harmonics of the supply and capacitor voltages are
more remarkable and better results for load magnitudes could
be obtained if the capacitor voltages were used [13].
The angle of the input current reference vector is defined ex-
actly same as in Method I, i.e., with zero crossing detection of
and PLL with 1. The measured voltage magni-
tudes are used only in the calculation of the modulation index as
presented in (15). Thus, the system is similar to those presented
and analyzed in [9], [11], [17], and [18].
With supply voltage feedforward the stability of the matrix
converter system is an essential question [13], [17][19]. The
IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 22, NO. 1, JANUARY 2007
Fig. 5. Supposed low voltage equivalent circuit of an industrial power supply
network.
stability of the MC system with supply voltage feedforward
depends on several parameters like grid impedance and supply
filter parameters. However, it has been presented in [17] that
the PLL based synchronization of supply switching vector
leads up to the stable operation even though measured supply
voltages are used in the calculation of modulation index by (15).
Thus, the choice made in Section I because of the simplicity
should also provide stable operation in whole output power
range, as will be presented in Sections IV and V. In addition,
unlike the method presented in [14], the input displacement
factor correction could also be used.
With Method II the effects of supply voltage harmonics on
the load voltages should be mainly prevented. The drawback of
the method is that if the supply voltages are distorted the line
current waveforms also become distorted due to the power bal-
ance between the input and output. But as presented in [11], the
RMS of the supply current distortion should be smaller com-
pared to the case when the current was modulated along input
voltage vector .
C. Method III
In the third control method of the IMC (Method III) a load
current feedback loop is added to the open-loop control system
of Method I as presented in Fig. 4. The supply voltages are not
measured, thus the calculation of the modulation index is based
on the assumption of ideal sinusoidal mains. The synchroniza-
tion of the line current reference vector is also defined with PLL
as in Method I.
The current references are given in two-axis form in
stationary coordinates and . The measured load
currents are and , which are used to define the actual
two-axis currents and . Both current controllers are iden-
tical discrete time antiwindup PI-controllers [7]. The PI-con-
trollers are used because they can be considered to be the basic
current control strategy when current control is an inner loop of
cascade closed-loop control system in electric drives.
The tuning of the controllers is based on the time constant
of the load on such a bandwidth that the frequency components
reflected from the supply can be damped. The time constant of
the simulated load presented in Section IV is 0.33 ms, which is
also the value of the integration time of the controller. To attain
the requirement of high bandwidth the gain of the controller was
set to 50. Thus, the theoretical bandwidth of the closed-loop cur-
rent control is 800 Hz, which in many practical drives can be too
JUSSILA AND TUUSA: COMPARISON OF SIMPLE CONTROL STRATEGIES
Fig. 6. Supply phase voltages in simulations: (a) waveforms, (b) spectrum, and (c) locus.
TABLE I
DISTORTED SUPPLY VOLTAGE
high but now needed to damp the frequency components caused
by the distorted supply voltage. Thus, the capability of Method
III depends on the controller tuning, which cannot necessarily
always be done with the adequate bandwidth. As Method II,
Method III should also produce more distorted supply currents
than Method I.
D. Method IV
The fourth IMC control method (Method IV) is a combination
of Methods II and III, as presented in Fig. 4. Thus it contains
both the supply voltage and load current measurements. Method
IV should prevent the reflection of supply harmonics to the load
most effectively among the methods presented here. It should
also produce the most distorted line currents.
IV. SIMULATIONS
A. Distorted Supply Voltage
In the typical low voltage industrial network presented in
Fig. 5 the impedance consists mostly of impedance caused
by distribution transformer and medium and high voltage net-
works. Compared to the impedances , , of
low voltage network are usually negligible, i.e.,
, , , and . When
the high frequency EMC in low voltage network is considered
the filtering caused by is not necessarily adequate
to provide safe operation of load in common case. Thus,
or type filters of an IMC drive cannot be reduced to pure
type filter even though the would sometimes offer ade-
quate impedance for filtering, i.e., the point of common coupling
(PCC) of the IMC is not generally in the supply side of the
but inside the industrial network. Thus, in this study type
line filter is applied.
The components of distorted supply voltage used are pre-
sented in Table I. Its relative phase voltage waveforms, spec-
trum, and locus are presented in Fig. 6. The highest harmonic
143
included is the 11th order. The relative magnitudes of harmonics
are the maximum allowed voltage harmonics allowed in the
standard [20] and their phase angles are similar to the phase
angles of the harmonics in industrial mains distorted by three-
phase diode rectifiers with capacitive loads. A total harmonic
distortion (THD) of the supply voltage is about 8.5%, which is
0.5% unit over the limit of 8% defined in [20].
B. Simulation Model
Simulations were performed with a combination of Simplorer
and Matlab Simulink softwares. In the simulations -connected
RL load with resistors of 30 and inductors of 10 mH was used
that gives the load power of 3.9 kVA when the voltage ratio is the
maximum 0.866. The modulation frequency was 5 kHz and the
modulator model was updated twice in one modulation period
[16].
The prototype and type filter used was originally de-
signed for 5-kVA rated power [16]. Thus, the supply filter design
was made supposing ideal sinusoidal supply conditions and its
main point was to fulfill the EMC requirements [21]. Desired
THDs of the supply current and filter capacitor voltage were
4% and 5% when the frequency components up to 500 kHz
were taken into account. The resonance frequency was set to
1049 Hz. In the 5-kVA converter it means 2.3-mH (2.3%) in-
ductors and 10- F (10%) capacitors in -connection [21]. In
the simulations, the damping and dc resistances of the real in-
ductors were modelled connecting resistances of 88 in par-
allel and 55 m in series with each ideal inductance of 2.3 mH.
The impedance of the power supply used in the measurements
consisted of 0.03- resistor and 0.1-mH inductance in series
and these values were also used in the simulations to model the
power supply impedance.
C. Simulation Results
As an ideal starting point to the other cases the simulation
results with ideal sinusoidal supply voltages are presented in
Fig. 7 when Method I is applied. The voltage transfer ratio is 0.8
260 V 325 V and the load frequency is 40 Hz. As can be
seen, the method, containing only the discrete-time space-vector
modulator, produces slight distortion to currents and load volt-
ages even with sinusoidal supply voltage because of inaccu-
racies produced by sampling, averaging of space-vector refer-
ences and discrete calculation. The spectra are presented with
the frequency resolution of 10 Hz up to 1 kHz.
144 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 22, NO. 1, JANUARY 2007

TABLE II
SIMULATION RESULTS

Fig. 7. Simulated waveforms and spectra (f = 10 Hz) of Method I with

sinusoidal supply voltage when f = 40 Hz: (a) supply voltage u and current
i , (b) spectrum of i , (c) waveform of load current i , and (d) spectrum of i .

Fig. 9. Simulated waveforms and spectra (f = 10 Hz) of Method II with

distorted supply voltages when f = 40 Hz: (a) line current i , (b) spectrum of
i , (c) load current i , and (d) spectrum of i .

Fig. 8. Simulated waveforms and spectra (f = 10 Hz) of Method I with

distorted supply voltages, when f = 40 Hz: (a) supply voltage u and current
i , (b) spectrum of i , (c) load current i , and (d) spectrum of i .

Method I was also simulated using the distorted supply

voltage of Fig. 6(a) instead of an ideal supply. The waveforms
and spectra of the currents produced are presented in Fig. 8.
When the load current spectra of Figs. 7(d) and 8(d) are
compared to each other, it can be seen that the supply voltage
harmonics reflect to output frequencies 260 Hz, 340 Hz, 560 Hz,
and 640 Hz, i.e., they are the frequencies 6 when
has values 1 ( 5, 7) and 2 11 as predicted in
Section II-B. The THDs of the simulated currents are presented
in Table II, where all THDs are calculated up to 2 kHz.
Fig. 10. Simulated waveforms and spectra (f = 10 Hz) of Method III with
Methods IIIV were simulated only with distorted supply distorted supply voltages when f = 40 Hz: (a) line current i , (b) spectrum of
voltage. The waveforms and spectra of the currents produced i , (c) load current i , and (d) spectrum of i .
by these methods are presented in Figs. 911. The THDs of cur-
rents and load voltage up to 2 kHz are presented in Table II.
In the simulations the current controllers of Methods III and filter inductance of 1 mH instead of 2.3 mH the resonance fre-
IV were tuned as presented in Section III-C. The feedback loops quency is 1591 Hz and the THDs with Method IV ( 40 Hz)
of the load currents included the first order digital low-pass fil- for , and were 17.0%, 4.3%, and 2.7%, respectively.
ters with 3.18-kHz cut-off frequency, thus the simulation models In the simulations, the approximated dc and parallel resistance
are equal to the system in the measurements presented in Sec- values of the inductor were also scaled with the smaller induc-
tion V. tance value. When the inductance value was reduced to 1 mH
As presented in Section IV-B the filter design was based remaining the original resonance frequency of 1049 Hz, i.e., ca-
on high frequency EMC requirements. However, the parameters pacitance of 23 F was used instead of 10 F, the THDs with
are not necessarily the optimum parameters when the low fre- Method IV ( 40 Hz) for , , and were 32.1%, 4.8%,
quency distortion of the supply is considered, e.g., by using the and 3.1%, respectively.
JUSSILA AND TUUSA: COMPARISON OF SIMPLE CONTROL STRATEGIES
Fig. 11. Simulated waveforms and spectra ((f = 10 Hz) of Method IV with
distorted supply voltages when f = 40 Hz: (a) line current i , (b) spectrum of
i , (c) load current i , and (d) spectrum of i .
Fig. 12. Block diagram of the IMC system.
Comparing the results of the control methods presented it can
be observed that the supply voltage feedforward of Method II
can reduce the load current distortion considerably but not to-
tally. The first reason is that the magnitude of is used instead
of capacitor voltages. As an example Method IV ( 40 Hz)
was simulated using the capacitor voltage measurements when
the THDs for , , and were 21.5%, 5.3%, and 3.2%,
respectively, so that the effect of voltage measurement point is
not very remarkable in this case. The second reason is that cur-
rent is not modulated along the instantaneous supply voltage
vector, which would be required to attain exactly constant output
power as presented in Section III-B. However, that would prob-
ably cause stability problems as presented in [13], [17], and [19].
The current control of Method III cannot alone reduce the dis-
tortion as well as Method II. To achieve sufficient compensation
with current control it has to be combined to the supply voltage
feedforward as in Method IV. Open-loop control of Method I
produces the most sinusoidal supply current but on the other
hand its load current is highly distorted.
V. MEASUREMENTS
A. IMC System
The IMC prototype is described in [16]. Its nominal load
power is 5 kVA and modulation frequency is 5 kHz. Its block
diagram is presented in Fig. 12 and the prototype is shown in
Fig. 13. In the measurements, the distorted supply voltage with
the amplitude of the fundamental component of 325 V was not
available thus 305 V was used instead. Its locus and the relative
magnitudes of the harmonic components are the same as in the
simulations presented in Fig. 6 and in Table I.
145
Fig. 13. Photograph of the IMC prototype.
Fig. 14. Measured waveforms and spectra (f = 10 Hz) of Method I with
sinusoidal supply voltage when f = 40 Hz: (a) supply voltage u and current
i , (b) spectrum of i , (c) waveform of load current i , and (d) spectrum of i .
To attain the same current with the same voltage transfer ratio
as in the simulations the -connected load consisted of
27- resistors and 10-mH inductors that gives the load power
of 3.9 kVA with the voltage ratio of 0.866. filter parameters
were 2.3 mH and 10 F as in the simulations.
The control system was implemented by microcontroller
(Motorola MPC555), which defines the switching states and
their durations after every 100 s, i.e., it updates the modulator
twice in the modulation period [16]. All control methods were
implemented with the microcontroller. The required currents
and voltages were measured using the ten bits A/D converters
of the microcontroller. The current filters and controllers of
Methods III and IV had the same parameters as in the simula-
tions.
As presented in Fig. 13, the size of the prototype is not
minimized but the aim has been to build a prototype easy to
modify and test different control systems. The microcontroller
and driver boards are the general boards of the institute. In
addition, supply filter inductor and both line and load bridges
have higher current ratings than required by the system.
B. Measurement Results
Measurement results of Method I with ideal sinusoidal
supply voltage are presented in Fig. 14 and in Table III, where
all THDs are calculated up to 2 kHz. The amplitude of the
sinusoidal supply voltage was 305 V. Method I was also
tested with distorted supply voltage. Measurement results are
146 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 22, NO. 1, JANUARY 2007

TABLE III
MEASUREMENT RESULTS

Fig. 16. Measured waveforms and spectra (f = 10 Hz) of Method II with

distorted supply voltages when f = 40 Hz: (a) line current i , (b) spectrum
of i , (c) load current i , and (d) spectrum of i .

Fig. 15. Measured waveforms and spectra (f = 10 Hz) of Method I with

distorted supply voltages, when f = 40 Hz: (a) supply voltage u and current
i , (b) spectrum of i , (c) load current i , and (d) spectrum of i .
Fig. 17. Measured waveforms and spectra (f = 10 Hz) 10 Hz) of Method
III with distorted supply voltages when f = 40 Hz: (a) line current i , (b)
spectrum of i , (c) load current i , and (d) spectrum of i .
presented in Fig. 15 and in Table III. The differences between
the results with ideal and distorted supply voltages are similar
as in the simulations. In each figure the waveforms are from
the same instant, e.g., the waveforms of the Fig. 14(a) and (b)
are simultaneous, etc. In addition, each spectrum calculation
has been started from the beginning point of the respective
waveform.
The measured waveforms and spectra of currents produced
by Methods II, III and IV are presented in Figs. 1618, respec-
tively. The THDs of currents and load voltages up to 2 kHz are
presented in Table III.

C. Comparison of Simulation and Measurement Results

Comparing Tables II and III it can be seen that the measure-
ment and the simulation results are essentially similar. The con-
trol methods containing compensation, i.e., Methods IIIV, can
compensate the reflection of supply voltage harmonics to load
voltage and current. In all cases the compensation distorts the
line currents more than in Method I, which produces the most
sinusoidal line currents and the most distorted load voltages and
currents. This can also be seen when the loci of currents pre-
sented in Figs. 1921 are compared.
The relative loci of currents produced by Method I in simu-
lations and measurements are presented in Fig. 19. The corre-
sponding loci of Method II are presented in Fig. 20 and the loci
Fig. 18. Measured waveforms and spectra (f = 10 Hz) of Method IV with
distorted supply voltages when f = 40 Hz: (a) line current i , (b) spectrum of
i , (c) load current i , and (d) spectrum of i .
of Method IV are presented in Fig. 21. The locus of the supply
voltage in the simulations is presented in Fig. 6(c) and it is iden-
tical to the locus of the voltage used in the measurements.
In the measurements Method IV produces the least distorted
load currents in all cases, but the least distorted load voltages
are produced with Method II as also in the simulations because
JUSSILA AND TUUSA: COMPARISON OF SIMPLE CONTROL STRATEGIES
Fig. 19. Loci of currents with Method I, when f = 40 Hz: (a) simulated and
(b) measured line currents; (c) simulated and (d) measured load currents.
Fig. 20. Loci of currents with Method II, when f = 40 Hz: (a) simulated and
(b) measured line currents; (c) simulated and (d) measured load currents.
Method II does not contain current control. The differences be-
tween simulation and measurement results are caused by the
non-idealities of the realization. The accuracy of the voltage
measurement in the prototype is worse than assumed in the sim-
ulations therefore Methods II and IV are not as effective in the
measurements as in the simulations even though the difference
is quite small. In addition, stray inductances, delays, non-ideal
147
Fig. 21. Loci of currents with Method IV, when f = 40 Hz: (a) simulated and
(b) measured line currents; (c) simulated and (d) measured load currents.
semiconductors, and other non-idealities are not modelled ex-
actly in the simulations. Thus, the output current control system
of Methods III and IV also shows lower performance in the ex-
perimental tests than in the simulations so that the measured
output current distortion is higher and the input current distor-
tion is lower than in the simulations. However, the differences
mentioned are small and the simulations match generally the
measurements quite well.
The measurements confirm the characteristics already ob-
served in the simulations: voltage feedforward is needed to
attain less distorted load magnitudes with the IMC when the
supply voltage is distorted as expected.
VI. CONCLUSION
First, the conduction of harmonics through an MC was ana-
lyzed using space-vector presentation. After that, four control
methods of the IMC were presented and compared in simula-
tions and measurements. The methods required neither compli-
cated computing nor complex measurements.
It was observed that the open-loop control method of the
IMC without information of supply voltage magnitude or load
current produced most distorted load currents. The current
feedback control could not alone compensate the effects of
supply voltage harmonics on the load current sufficiently when
the supply voltage was assumed to be ideal. In addition, the cur-
rent controllers cannot necessarily be tuned in all drives so that
adequate bandwidth is achieved. The sufficient compensation
was achieved only with the methods where the measured supply
voltages were used in the calculation of modulation index. In
all cases, the compensation increased line current distortion.
The analysis presented is valid for both DMC and IMC. Thus,
the control methods presented as well as their comparison are
also applicable to DMC.
148
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Matti Jussila (S05) was born in Tammela, Finland,
in 1977. He received the M.S. (with honors) and Lic.
Tech. degrees in electrical engineering from Tampere
University of Technology, Tampere, Finland, in 2001
and 2005, respectively.
Since 2000, he has been with the Department of
Electrical Engineering, Tampere University of Tech-
nology. He was a Research Assistant from 2000 to
2001. Since 2002, he has been a Researcher. His re-
search interest is matrix converters.
Heikki Tuusa was born in Hattula, Finland, in 1957.
He received the M.S., Lic.Tech., and Dr.Tech. de-
grees in electrical engineering from Tampere Univer-
sity of Technology, Tampere, Finland, in 1983, 1987,
and 1993, respectively.
Since 1983, he has been with the Department of
Electrical Engineering, Tampere University of Tech-
nology. He was a Laboratory Manager from 1983 to
1986 and in 1993, a Senior Assistant from 1986 to
1992, an Acting Professor from 1994 to 1995, and an
Associate Professor from 1995 to 1998. Since 1998,
he has been a Professor and Head of the Institute of Power Electronics. His areas
of interest are PWM converters and controlled motor drives.