2018 5th International Conference on Electrical and Electronics Engineering
Nonlinear Control of a Single Phase Shunt Active Filter Connected Photovoltaic
Systems via Sliding Mode
A. Elallali*, A. Abouloifa. C. Taghzaoui, Y.
Mchaouar, A. Hamdoun
University Hasan II Casablanca, Faculty of Sciences
Ben M'sik, LTI Lab, BP 7955 Casablanca, Morocco
e-mail: aichaelallali@gmail.com
Abstract—This paper presents the problem of controlling
single-phase active power filter connected photovoltaic system
via MPPT. We seek to meet a control strategy for the two
following control objectives: i) ensuring the correction of the
power factor (PFC) by eliminating harmonics generated by a
non-linear load; ii) injecting in the power grid electric energy
produced by solar panels, regulated by the MPPT. To achieve
the above control objectives, a sliding mode control is designed
as a nonlinear control technique applied in the inner loop and
a simple proportional-integral (PI) controller is used in the
outer voltage control. The System's stability is ensured by
Lyapunov framework using system averaging theory. An
experiment based on MATLAB/Simulink is designed to
confirm the validity of proposed APF controller for this system.
Keywords-Active Power Filter (APF); PV; MPPT; averaging
model; sliding mode control; Lyapunov stability
I. INTRODUCTION
Electricity requirements are increasing in the recent years
in equivalent to changes and technology developments.
However, the fact that costs rise in meeting these
requirements, Renewable sources of energy such as solar and
wind energies, are considered as a good solution to the
agenda. The sun is a clean but discontinuous source of
energy. A major way of producing electricity directly is to
use photovoltaic cells systems. The first solar cell was
invented by Charles Fritts in 1884[1]. Now, there are various
uses of photovoltaic panels, especially the transport, power
satellites and others projects.
In the other hand, the wide use of non-linear loads, such
as a diode and thyristor front-end rectifiers, switching power
supplies, etc…, has the result of disturbing the current in the
grid. Indeed, these non-linear loads cause the injection of
current harmonics and consume reactive power. APF is
equipment which can compensate harmonic components
proactively.
Nowadays, APF connected photovoltaic systems is
widely used in power system. The APF concept is to use a
DC/AC converter to generate currents that are equal but in
opposite to the harmonic current of the non-linear loads. [2]
Presented the modulation and simulation of shunt active
power filter with diode rectifier full bridge connected to RL
Load. [3] Proposed the application of APPs for mitigating
harmonic currents and compensating for reactive power of
PV renewable energy source feeding non-linear load.
978-1-5386-6392-9/18/$31.00 ©2018 IEEE
I. Lachkar
University Hassan II Casablanca ENSEM Casablanca,
LISER lab, BP 7955
Casablanca, Morocco
e-mail: lachkaribtissam@gmail.com
A nonlinear system is a system does not check the
superposition principle, whose the change of the output is not
proportional to the change of the input. [4] Proposed an
adaptive fuzzy-sliding control system to improve the
dynamic performance of a three-phase active power filter. [5]
Introduced a sliding control to improve tracking performance
characteristics.
This work has presented a control, analysis and
simulation of a Single-Phase Active Power Filter connected
Photovoltaic system. The system is composed of a solar
panel array of 16 solar panels. Each solar panel has a
nominal power of 200W, an open circuit voltage of 32,9V
and a short-circuit current of 8, 21 A. The solar panels are
connected in series between them to making a total of
888.3V. Due to the high cost of PV modules, we need to
improve the efficiency of the photovoltaic array as much as
possible. So, we need to adjust the load characteristics of the
PV array to work at the MPPT technology, to improve the
efficiency of photovoltaic power generation [6], [7], [8],
using the Perturb and Observe P&O MPPT Algorithm.
The control strategy consists of two loops: an inner loop
of current control, to achieve a perfect power factor
correction as possible, by compensation of reactive and
deforming powers of the non-linear load and as well as, an
outer loop regulating the DC bus voltage of the active filter.
Therefore, this system is capable of compensating power
factor and harmonic currents, and at the same time, injecting
in the power grid electric energy produced by PV regulated
by the MPPT. The controller performances are formally
analyzed using system averaging theory. Based on this
model, a non-linear controller using the technique of sliding
modes the establishment of the current loop and the
proportional-integral correction to the voltage loop has been
developed.
The paper is organized as follows: Description of the
Photovoltaic System in section 2, PV-AFP system control
scheme in section 3; the controller design in Section 4, the
control system analysis in Section 5 and the theoretical
analysis results are confirmed by simulation in Section 6.
II. DESCRIPTION OF THE PHOTOVOLTAIC SYSTEM
A. Mathematical Model of PV Panel
The photovoltaic energy system is one of the cleanest
energy generation technologies today with a very low impact
on the environment. By operating PV, it converts the sun's
56
rays into electricity, producing no air, waste or noise
pollution. As a result, solar energy can be an effective
economic development engine [9].
A solar cell is usually represented by an equivalent one-
diode model [10], [11], [12]. For more accuracy and
complexity can be introduced to the previous model by
adding a series resistance R s and parallel resistor Rsh . The
circuit diagram of this model is shown in Fig. 1.

Figure 1. Circuits model for PV cell with series and parallel resistance,
Rs and Rsh .

The terminal equation for the current and voltage of the

array of PV panels are given as under [13]: Figure 2. P&O flowchart
I pv I s  I d  I sh (1.1)
III. PV-AF SYSTEM CONTROL CHEMA
v pv V D  Rs I pv (1.2)
A. APV-PV Association Topology and Modeling
I sh v pv  Rs I pv  Rsh (1.3) The active power filter APF under study consists of a
ID I o ^exp>qv pv  I pv Rs  AKT @  1`
with I s is the light generated current; v pv is the terminal
voltage of the cell; I d is a diode current; I o is the saturation
current; I sh is the shunt current, q is the Electron charge
(1.4) single-phase IGBT based full-bridge inverter with a
capacitor c f of energy storage placed on the DC side. From
the AC side, the APF with photovoltaic systems is connected
in parallel with a nonlinear load; this latter is composed of
diode rectifier full bridge connected to R f L f Load. The PV-
1.6 u 10 C  ;
19
k is the Boltzmann constant APF load association behaves as a purely resistive load
1.38 u 10 J K  .
23 which amounts to make the fundamental component of load
current in phase with the main AC voltage [13]. The
 
Generally, v pv  Rs I pv Rsh can be ignored because following figure Fig. 3 showed the block diagram of the
system:
the R s of PV cells is very small and Rsh big. Therefore, the
equation of photovoltaic panels may be written as (2). Non Linear Load

I pv ^ > 
I s  I o exp q v pv  I pv Rs AKT  1 @ ` (2)

B. MPPT Control
The MPPT algorithm is used commonly for photovoltaic
solar systems (PV) and wind turbines to maximize power
extraction. There are several methods for MPPT, to obtain
the maximum power from PV array, that the best choice of
MPPT technique is extremely important, for example [9],
[14] shows that the Perturb and Observe ‘P&O’ technique Figure 3. Block Diagram of the system.
has relatively good tracking performance.
In our case, we worked with the algorithm perturb and Applying the usual Kirchhoff’s laws to the single phase
observe ‘P&O’. The MPPT controller takes x1 and x 2 as shunt APF one easily gets:
for: P 1
inputs to detect the power slope and generates v pv * to track
> @
L f di f dt r f i f  v g  v pv (3.1)
the maximum power point. The following Fig. 2 shows the
organization chart of the algorithm of P&O: >
c f dv pv dt @ if (3.2)
for: P 1
>
L f di f dt @ r f i f  v g  v pv (4.1)
>
c f dv pv dt @ i f (4.2)

57
where the switching function μ of the inverter is defined by: A. Current Inner Loop Designs
­ 1 if T1 , T4  is ON , T2 , T3  is OFF Consider the average model already obtained in section 3
P ®
¯ 1 if T1 , T4  is OFF , T2 , T3  is ON and represented by (6).
Combining (2) and (3), one obtains the instantaneous The sliding mode control is a nonlinear control method,
model of whole system: which considered as one of the effectual tools to design
> @
L f di f dt r f i f  v g  P v pv (5.1) robust controllers for complex high order non-linear dynamic.
The controller design consists of two-part: the first part
> @
c f dv pv dt i pv  P i f (5.2) involves the design of a sliding surface so that the sliding
The equivalent average model must be used, to elaborate motion satisfies design specifications and the second is
a law of continuous control. In our case this model means is concerned with the selection of control law that will make
the following: the switching surface attractive to the system state [2].
x The choice of the slip surface:
L f >dx1 dt @ r f x1  v g  u x2 (6.1)
Either the system described by the differential equation:
c f >dx2 dt @ i pv  u x1 (6.2) x n f x , t   g  x , t  u (7)
where x1 , x 2 and u denote the average values, over cutting where f and g are non-linear functions, g is supposed
periods, of the signals i f , v pv and P . invertible. u: the entry of the system. x: state of the system.
Either x d the desired set point or e the error of
B. Control Objectives continuation defined by:
This article proposes to examine the characteristics of an e x  xd (8)
association between a photovoltaic generator (GPV) which sx  w wt  O n1 ex  (9)
aims to inject the active power on electrical network, and an
where n: the relative degree of the system in relation to the
active filter parallel that has the task to eliminate the
interference present at the level of this network. This goal, output y t  . It represents the minimum number of times that
commonly referred to PFC, will be arrived if the supply net it must derive the output y t  compared to the time, to see the
current i g enforced, using a suitable controller (yet to be entry.
found), to perfectly match a reference signal of the form In our case, it was n=1 this which gives: sx  ex 
i g * t  E v g t  [13]. Later, the E value will be online fixed We must determine: u u eq  u n
by the MPPT, to meet the DC voltage regulation objective. x Calculation of the command u eq
The equivalent command u eq is a continuous function
IV. CONTROLLER DESIGN
which serves to maintain the variable control on the sliding
The following Fig. 4 presents the principle of the non-
linear cascade controller. surface s 0 . Given by( s 0 invariance of the sliding
surface).

Network Non-Linear Load

for s e1  
L f x1  x1* , we find:
ueq L f x1* 
 r f x1  v g x2 (10)

APF PV
x Calculation of the command u n
Corrective control u n surface (compensate the deviations
from the sliding surface to reach the sliding surface). The
control is discontinuous across the manifold s 0 .
Current
Consider a Lyapunov function:
control V 0.5 s 2 (11.1)
Inner loop Taking the derivative of the Lyapunov function:
V s s e e (11.2)
To ensure is a negative-definite function (i.e., V  0 for
Current Lyapunov stability of the surface s 0 ) we have:
Outer loop
control

V s L f x1  L f x1*  0  (11.3)

Figure 4. Controller block diagram showing the current and voltage loop.

V s  r x1  v g  ueq x2  un x2  L f x1*  0  (11.4)

V  s un x2  0 (11.5)
u n O. sgns  x2 (11.6)

58
 Finally, the expression of u will be given by the x And the outer loop regulator (15), where the design
following relationship:  
parameters s ,b,k p ,k i are positive constant.
u L f x1*  r f x1  v g  O sgn s  x2 (12) Then, the global closed-loop control system has the
following properties:
B. Outer Control Loop Design
The outer-loop is expected to generate, the signal E from
(1) The error e1 s L f x1  x1* 
vanishes 
the PV array by regulating the PV voltage. Therefore, that exponentially fast (where x1* E v g  iL ).
the output voltage x 2 to be set by the MPPT to given (2) Insert the state vector: X * t  f t , X 
reference value of x 2 .To this end, one must first establish (16)
­ e1 s
the relation between E and the output voltage x 2 (Fig. 4). ° e
° 2 z
x Relation between E and x2 ® with z y*  y
°e3 ³ z dt
The output voltage x 2 varies in response to the signal E as °
¯ e4 E
follows: The stability of the equilibrium point:
c f x2 i pv  u x1 (13.1) The linearized model around the equilibrium point is
c f x 2  i pv   f1  f 2  x2 (13.2) written as [15]:
with J is the Jacobian matrix.
with: f1 : The terms to mean not null. (17)
ª e1 º ª0 0 0 0 º ª e1 º
f 2 : The terms to mean null. «e » «0 A B » «
C » e2 »
So we can write « 2» « « »
(13.3) «e3 » «0 1 0 0 » «e3 »
c f x 2  i pv  f1 x2 « » « »« »
with: ¬e4 ¼ ¬«0 b k p b k i  b¼» ¬e4 ¼
f1 1  rE  L f  E E 2 2  E I L1 cos M1  2  (13.4) where:
1 (18)
A  L f b E 2 k p 1 r
 r I L1 2 2  s 2 L f 2 2
 O s. sgns  L f  >1 r  I L1 cos M1  E @2  >2 I L1 E @2 ·¸
Then, according to the following first-order time-varying ¹
nonlinear equation, the squared-voltage x2 2 varies, in B L f b E I L1k i 2 (19)
response to the tuning ratio E :  L f b E 2 k i 1 r  I L1 cos M1  2 E
c f x 2 2 2  i pv x2 f1  f 2 (14)
x Squared output voltage regulation
 1 r  I L1 cos M1  E 2  2I L1 E 2 ·¸
¹
The signal E stands as a control input in the first order
system (12). C
1
2
2 2
 
L f b E k p E L f b  r  >2 I L1 E @2
(20)


E k p e2  ki e4 b b  s   (15.1)
with:  1 r  >1 r  I L1 cos M1  E @2 ·¸
¹
e2 y*  y After applying the Routh-Hurwitz stability criterion, we
e3 ³ e2 dt obtained:
where s denotes the Laplace variable and b, k p , k i are   x  A  b  0
any positive real constants. x cbk p  B  Ab  0
E Can be computed using the following equation: x cbk i  bB  0
p
E k e  k e  E 2 i 3  (15.2) x  A  b cbk p  B  Ab  cbk i  bB  A  b  0

V. CONTROL SYSTEM ANALYSIS VI. SIMULATION

Theorem: Consider the active power filter, designed by Fig.
3, represented by its average model, in closed-loop with the
cascade controller composed of:
x The inner loop regulator consisting of the control
law (12)
The schematic diagram of non-linear system described by
Fig. 3 is simulated using the MATLAB/SIMPOWER. The
controlled part is an AFP system including the nonlinear load
founded on a bridge rectifier, supplying a load which
consists of an inductor L in series with a resistor R, with the
numerical values of Table 1. All involved electrical
components are simulated using SIMPOWER toolbox which

59
offers a quite accurate representation of power elements. 900

Presently, the ODE14x (extra-potation) solver is selected 800

with fixed step time 106 s . 700

600

A. Simulation Parameters 500

The values of the parameters are in Table I: 400

0 0.5 1 1.5 2 2.5
5
x 10
TABLE I. PARAMETERS FOR SINGLE-PHASE PARALLEL ACTIVE Figure 7. Output voltage v pv
FILTER, NETWORK AND A NONLINEAR LOAD

Network The outer loop goal is to regulate the electric energy,

E 220 2 produced by solar panels, regulated by the MPPT, to
Power active filter conserve the system stability.
The Fig. 7 shows that the output voltage is stabilized, in
cf 1mF L f 1mH Rf 8m:
the mean, to the reference value.
Rectifier
Lo 10mH VII. CONCLUSIONS
Lr 100mH Rr 10:
Regulator parameters In this paper, we have considered the problem of
controlling the APF-PV systems connected to the power
O 100 fp 10Khz
network. A non-linear control strategy is proposed for single-
phase shunt active power filters. The aim is to determine
B. Simulation Results current harmonics and to achieve reactive power
The validation of this control is made using the Matlab- compensation, in presence of non-linear, as well as tight
Simulink software, if the diode bridge supplies a RL load voltage regulation produced by solar panels, regulated by the
type. MPPT. To this end, a cascade non-linear controller is
400
vg
developed and analyzed making use of advanced tools from
4*ig the control approach of sliding modes control design, system
200
averaging theory. The formal results, obtained by several
0 simulations, Show that the control objectives are actually
achieved in average with a quite satisfactory accuracy.
-200

-400
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0 0.05 0.1 0.15 0.2 0.25 0.3
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