2018 IEEE International Conference on Energy Internet
LCC-HVDC Supplementary Controller Design
Based on Global Fast Terminal Sliding Mode Control
Qipu Liu, Guoqiang Sun, Weizhi Nong, Zijie Lin
College of Energy & Electrical Engineering
Hohai University
Nanjing, China
e-mail: liuqipu1993@hhu.edu.cn
Abstract—Conventional LCC-HVDC is a non-linear, tightly
coupled system. Since the performance of PI control varies
from different operation conditions, the optimal of parameter
tuning is only achieved under steady state. To improve
dynamic performance and stability of system, A novel HVDC
nonlinear supplementary controller based on Terminal sliding
mode theorem has been proposed. First, the steady state
mathematical model of the LCC-HVDC system is built, the
approach of state feedback exact linearization is adopted to
change the nonlinear model into a linear one, the decoupled
relationship between the control variables are investigated;
then based on sliding mode control method, the constant
current and constant voltage control in rectifier and inverter
has been achieved, respectively. The variables converge to
equilibrium point fast and exactly. Finally, the strategy is
demonstrated through Matlab/Simulink software, the
simulation results show that the controller is capable of tracing
the reference, and the robustness with respect to parameters’
perturbations is satisfied. The controller contributes
significantly toward improving transient performance
comparing to conventional PI control and restraining
commutation failure.
Keywords- LCC-HVDC; exact linearization; commutation
failure; Terminal sliding mode control; robustness
I. INTRODUCTION
HVDC technology has the advantages of low cost, low
loss, and fast adjustment speed. It has been widely used in
long-distance, large-capacity transmission, interconnection
of AC systems, and cross-Strait transmission, etc. [1].
According to statistics, there are 14 ultra-high voltage direct
current(UHVDC) projects have been put into operation or
under construction worldwide up to 2016. Alone with the
China’s power grid construction improving, HVDC have
become an important technical choice for optimizing the
allocation of power grid resources and coordinating regional
economic development [2]. Because the DC system can
flexibly control the voltage and current in few milliseconds,
it imposes higher requirements on the accuracy and
performance of the control. Commutation failure(CF) always
restrict the development of traditional DC transmission as a
serious problem. The scholars mainly solve this question by
improving topology and control methods [3]. Since the
978-1-5386-4131-6/18/$31.00 ©2018 IEEE
DOI 10.1109/ICEI.2018.00062
Xiaochen Tang, Jia Yang
State Key Laboratory of Smart Grid Protection &
Control
NARI Group Corporation
Nanjing, China
e-mail: tangxiaochen@sgepri.sgcc.com.cn
1990s, some scholars have proposed linear control methods
to improve the reliability of converter stations [4]–[6].
However, the traditional control methods based on
linearization depend on the steady-state operating point [7].
HVDC system is a strongly coupled, non-linear system
essentially. Due to the unmodeled dynamics and uncertain
disturbances, traditional PI control cannot be globally
optimal in the parameter optimization. It is necessary to
consider the influence of the nonlinear characteristics of the
converter and the voltage variation at the AC side. In recent
years, advanced nonlinear control methods have been
proposed in solving CF such as adaptive control [8] and
fuzzy control [9]. State feedback linearization [10] and
sliding mode control(SMC) theory [11] have been applied to
power system gradually and achieved good results.
In [12], an HVDC nonlinear robust control strategy based
on extended state observer and Terminal sliding mode has
been proposed. However, on the inverter side, the constant
gamma control(CGC) is used, which is not conducive to
small disturbance stability. A controller combined the neural
network with the PID to improve the dynamic quality of the
system which is reported in [13]. But the neural network
requires a large amount of sample data for training and
cannot work properly when the data is insufficient. In [14],
the author uses the nonlinear error feedback rate to determine
the pre-control variables and based on the extended state
observer to identify uncertainties. To some extent it solves
the contradiction between overshoot and rapidity, but lack of
further analysis on the AC side disturbance.
As a discontinuous control method, Terminal SMC is an
improved version compared to original one [15]. It
introduces a nonlinear term in the design of ordinary sliding
surface to make tracking error can converge to zero within a
limited time, so as to obtain a better control effect.
In order to improve the control performance of the
HVDC system and enhance its robustness on AC side faults
and then reduce the probability of CF, this paper presents a
control strategy based on the Terminal SMC. Firstly a 3rd
order mathematical model of LCC-HVDC under the CIGRÉ
benchmark model is established based on the method of
exact linearization, which realize the decoupling of the
rectifier side constant current control(CCC) and the inverter
side constant voltage control(CVC). Then, global fast
303
Terminal SMC strategy is designed based on the linear
model. The control variable can quickly reach the sliding
°

­ x1  Rd 6 x1  3 2 S * Var cos x2
surface and has good tracking performance. Finally,
simulation tests based on Matlab model verify the
°  3 2 S * V cos x L
° ai 3 d6 
effectiveness of the proposed algorithm. ° x   x  D  u  T
 ® 2 2 0 D D  
II. LCC-HVDC MODELLING ° x3   x3  E0  uE  TE
The structure of the CIGRÉ benchmark model of two- °
ends monopole 12-pulse bridge LCC-HVDC transmission ° y1 x1
°
¯ y2 U d 3 2 S * Vai cos x3  3 S * xi x1
system is shown in Fig.1. Both ends use LCC converters and
have the same topology.
id

Var Ld Rd Rd Ld Vai
A. Exact Linearization of LCC-HVDC
is1 is2 The linear control theory is very perfect, and the control
method for nonlinear models is almost based on linearization.
Cdc
AC1 AC2 The exact linearization theory has been widely used in the
design of nonlinear control systems. Its main idea is using
Rec Inv
differential geometry to build up an appropriate coordinate
transformation z=(x) and pre-feedback v=a(x)+b(x)u so that
Figure 1. CIGRÉ HVDC benchmark Model. the system is linearized globally.
Rewrite (2) to the following affine nonlinear form
Var, Vai and is1, is2 is three-phase fundamental voltage and
fundamental current of the AC system bus of the rectifier and
the inverter respectively; Rd and Ld are the resistance and ­ x f  x   g  x  uD  g   x  uE
°
reactance of the DC line. When the distributed capacitance  ® y1 hI  x   
Cdc is neglected, the rectifier side DC current Idr is equal to °y h x
the inverter side, so that Idr=Idi=Id. At this point, the 3rd order ¯ 2 V  
system state equation is obtained [16].
Where, f(x)=

­ 1 ª 3 2 «

ª  Rd 6 x1  Var cos x2 3 2 S  Vai cos x3 3 2 S  Ld 6 º
»
° Id «  Rd 6 I d  V  t  cos D « D  D 0  uD  TD »
° Ld 6 ¬ S ar
« »
° «  E  E0  uE  TE »
°  3 2 V  t  cos E º ¬ ¼
° »
 S ai ¼   g(x)=[0 1/T 0]T; g(x)=[0 0 1/T]T; hI(x)=Id; hV(x)=Ud.
®
° 1 For y1=hI(x)ˈwhich has
° D T  D  D 0  uD 
° D
°  1 ­ Lg hI  x  ª¬whI  x  wx º¼ g  x  0
° E T   E  E 0  uE  °
¯ E ° Lg  hI  x  ¬ªwhI  x  wx ¼º g   x  0
°
 ®  
In (1), 0 and 0 are the setpoint of the firing delay angle
at rectifier side and leading angle at inverter side respectively

° Lg L f hI  x   3 2 S *Var sin D TD Ld 6  
°
during steady state. u and uare the control signal of  and 
regulator respectively. T and T are the time constant and x
 
°̄ Lg  L f hI  x  3 2 S * Vai sin E TE Ld 6 
is the equivalent resistance of the converter station. Where
At the equilibrium point, (x1, x2, x3) = (Id, , ) = (2kA,
Ld = Ldr + Ldi, Rd = 2Rd + (3/)xr + (3/)xi. The subscript of
15°, 45°), therefore the last two term in (4) aren’t zero. So
r and i represent rectifier side and inverter side respectively.
the relation degree r1 equal 2. As for y2=hV(x), which has
Take Id, ,  as the state variables, that is [x1, x2, x3] = [Id,
, ]. And the output variables are set as [y1(x), y2(x)]=[Id,
­L h x
° g V   ª¬whV  x  wx º¼ g  x  0
Ud]. So far, the LCC-HVDC state space equation has
established, as shown in (2).
°
From (2), it can be seen that this is a multi-input, multi-  ® Lg  hV  x  ª¬whV  x  wx º¼ g   x   
output, strongly coupled, nonlinear system. °
III. LCC-HVDC CONTROL METHOD
°̄ 3 2 S * Vai sin E  T  z 0
E

304
 So r2=1, and then r1+r2=3=n, n is the dimension of state. Consider this, a new type of global fast Terminal SMC
system. Therefore, a coordinate transformation exists which combine two parts is used.
can transform the original system into the Brunovsky
canonical form. And that is (x)=[1(x), 2(x),  s  D s  E s q p
0 
3(x)]T=[hI(x), LfhI(x), hV(x)]T, which convert (3) into two
linear subsystems,
Where , >0, constant p and q are odd, p>q>0. From the
above, the SMC law can be designed as
­M1 M2
° ­M3 v2
 a ®M2 v1 b ®   n 1
M3
°y M
¯ 1 1
¯ y2  u  ¦c x
i 1
i i 1  D s  E sq p  

Where: v1, v2 specific content see (7), (8), these are pre- When the initial state s(0) is an arbitrary value, by setting
control variables need to be designed. the parameters , , p, q properly, the dynamic sliding
surface s = 0 can make the system reach a sufficiently small
d region around the sliding surface in a limited time. Then
v1 L f hI  x  L2f hI  x   Lg L f hI  x  uD converges to the equilibrium state along it quickly and
dt
 wL f hI wL f hI   accurately.
 Lg  L f hI  x  uE  Var  Vai The goal of subsystem a is to tracking DC current Id
wVar wVai reference. According to the above theory, e1 = x1  x*1 = Id 
Idref. Let switching surface s1 = c1e1 + 1 and derivative
1 =
c1 1 + ë1 1s1 1sq/p
1 = c11 + v1. The solution v1 is (13).
Similarly, the goal of subsystem b is tracking DC voltage
d
v2 hV  x  L f hV  x   reference. Let e2 = y2  y*2 =Ud  Udref and s2 = e2 and its
dt derivative
2 = 2 2s2 2sq/p
2 = v2, rewrite v2 as (14).
 whV    Then, (12) and (13) are substituted into (7), (8), and the
Lg  hV  x  uE  Vai simultaneous solution yields u and u as followed (14) and
wVai
(15),
Notice that, f(x), g(x), g(x) is smooth function in the
real field Թ3. And considering model uncertainties, the v1 D1s1  E1s1q1 / p1  c1 x1
 
derivative of the Var, Vai cannot calculate exactly and real-
timely, So the last two terms in (7) and the last term in (8) D1c1 x1  x1*  D1  c1   Rd 6 x1
 3 2 S *Var cos x2  3 2 S * Vai cos x3   
are set as unknown disturbances.


­ wL f hI wL f hI  
/ Ld 6  E1 > c1 x1  x1*    Rd 6 x1  3 2 S
°W1 Var  Vai q1 p1


° wVar wVai
 
*Var cos x2  3 2 S * Vai cos x3  Ld 6 @
®
°W whV 
Vai
°¯ 2 wVai
v2 D 2 s2  E 2 s2q2 / p2
Assuming there is an upper bound of unknown
disturbance. Max{|W1|, |W2|}İ, and >0. After obtaining  
D 2 3 2 S * Vai cos x3  3 S * xi x1   
the two values of v1, v2, then substitute in (7) and (8), the
 
q2 p 2
final control law u and u can be solved and reflected in the  E 2 3 2 S * Vai cos x3  3 S * xi x1
firing angle control. By far, linearization has been completed,
the following section introduce design of v1, v2.
1
B. Global Fast Terminal SMC Controller Design uD >v1  Lg L f hI  x  uE
 Lg L f hI  x   
Ordinary SMC usually selects a linear sliding surface,
which makes the state tracking error cannot converge to zero  L hI  x   W1 @
2
f
within a limited time. The introduction of nonlinear
functions in the Terminal SMC can overcome this problem.
However, it is not optimal at the time costs. This is because
1
the convergence speed of nonlinear sliding mode is slower
 uE ªv2  W2  L f hV  x  º¼  
than linear one when the system approaches the equilibrium Lg  hV  x  ¬

305
 Finally, substituting (14) and (15) into the last two terms Value
Parameters
of (1), the first-order non-homogeneous differential Rectifier Inverter
equations are solved. At last, the firing angle reference Equivalent potential 3.737 0.7406
obtained is added to the ,  regulator. The whole control
Source Impedance(R+jL) +j  +j



block diagrams of the rectifier side and the inverter side are
shown in Fig. 2. The part included in dotted line frame is the Frequency 50Hz 50Hz
SMC design part. Minimum Firing Angle =15° =15°
From Fig.2, Terminal SMC exists as additional controller.
The rectifier side adopts CCC. Choose a larger one from PI Time Constant 0.02s 0.05s
control and SMC and output the command to firing. The SMC is realized by S-function in Matlab[18]. The
inverter side adopts a combination of CVC, CCC and CGC. parameters are shown in Table 2.
Under normal operation, it is dominated by CVC. This is
accomplished by the SMC output. After the voltage on the TABLE II. THE SIMULATION PARAMETERS OF SLIDING MODE
CONTROL
inverter side drops, the system operates enter CGC or
maintain CVC, also take a larger value output to the firing. Parameters Value Parameters Value

r ec_P I r ec_P I r ec 1 2 2 2
+

Id_r ec -
PI - Min
+

Vd_in v Ides 1 4 2 5
Ido_ rec r ec_S MC
Var v1 u
+ (14) c1 150 p2 13
VDCOL (7)
(1)
Vai (8) v2 p1 17 q2 5
+

(15)
u
* 0.01 q1 3 - -
0.1
+

- inv_S MC
- +
Id_in v
PI
inv_P I_I
B. Reference Step Responce
Current Error Control
inv Take conventional PI control as comparison to analyze
Max
- the step response. During normal condition, the current
+

inv - reference varies as follows: During 0~1.2s, it is maintained

+

Max PI 
inv_P I_ at 1pu, 1.2s~2s, fall to 0.8pu; 2~3s, and bump up to 1.1pu.
+

0.2618 -0.544 The simulation results are shown in Fig. 3.

1.2
Figure 2. HVDC system rectifier and inverter control block diagram.
Id,Id_r ef/pu

1
IV. SIMULATION TESTS AND RESULTS 0.8 Idr ef
Id(SMC)
A. Simulation Modelling Id(PI)
0
0.5 1 1.5 2 2.5 3
To verify the validity of the proposed algorithm, the t/s
CIGRÉ HVDC benchmark model as shown in Fig.1 is built
Figure 3. Step response of rectifier DC current reference in steady state.
in Matlab. The system parameters are shown in Table 1 [17].
TABLE I. THE SIMULATION PARAMETERS OF CIGRÉ HVDC 1.2
BENCHMARK MODELS 1.1
Ud,Ud_r ef/pu

Value 1.0
Parameters 0.9 Udr ef
Rectifier Inverter
Ud(SMC)
0.8 Ud(PI)
Rated AC Voltage 345 kV 230 kV
0.5 1 1.5 2 2.5 3
Base Capacity 100 MVA 100 MVA t/s

DC Line Resistance Rd 2.  Figure 4. Step response of rectifier DC voltage reference in steady state.
DC Reactance
0.5968 H 0.5968 H Test system responds to step in voltage reference as
(include smoothing Reactor)Ld
follows: During 0~1s, it is maintained as 1pu, 1s~2s, fall to
Rated DC Voltage Ud 500kV 500kV 0.9pu, 2~3s, and back up to 1.1pu. Fig.4 shows the
Rated DC Current Id 2kA 2kA
simulation results of two control methods.
From Fig.3 PI control dynamic response time is about
Transformer Leakage Reactance 0.18pu 0.18pu 500ms when the current reference on the rectifier side
Convertor Equivalent changes, but SMC is about only 150ms, and its overshoot is
0.0342 0.03247 small, only one third of traditional one. From Fig.4 DC
Resistance x(pu)
voltage overshoot of SMC is slightly smaller than PI control

306
but not very obviously. Therefore, SMC shows its 1.4
distinguished performance and the system stability is 1.2

Idc_I nv/pu
effectively improved.
1.0
C. Model Parameter Perturbation Experiment PI
0.8
In order to verify the controller's robustness to internal 0.6
SMC
parameter perturbation, the equivalent impedance of both 3.8 3.9 4.0 4.1 4.2 4.3 4.4 4.5
sides is reduced by 50%. The simulation results are shown in t/s
Fig.6. Fig. 5 shows the response of rectifier current and (b)
inverter voltage before and after the perturbation. 1.0
PI
1.5 0.8 SMC

¤_In v/rad
0.6
1 0.4
Id/pu

0.2
0.5 Before perturbation
0
After perturbation 3.8 3.9 4.0 4.1 4.2 4.3 4.4 4.5
0 t/s
0.5 1 1.5 2 2.5 3
t/s (c)
(a) Figure 6. Responses of the different control strategy with single phase
1.5 ground fault(Lf=0.97H, no commutation failure occurs). (a) Invertor AC
voltage; (b) Invertor DC currrnt; (c) Invertor gamma angle.
1
Ud/pu

From Fig.6 the two control effects are not much different,
0.5 Before perturbation and both can effectively suppress CF.
After perturbation Fig.7 shows that when the fault is further strengthened,
0 the ground impedance drops to 0.96H. The traditional PI
0.5 1 1.5 2 2.5 3
t/s control cannot make the system continue to operate stably,
(b) and the CF occurs, the DC current increases sharply,  angle
Figure 5. Step response of converter station with parameter perturbations. decreases to 0. However, CF doesn’t appear under SMC and
(a) rectifier DC current; (b) invertor DC voltage. system is able to deliver power continuously.
1.1
From Fig.5, it can be seen that the value is stable near the 1.0
Uac_I nv/pu

reference before and after condition changes, the fluctuation

is less than ±0.05 pu, and the dynamic response curves 0.9
almost coincide. Therefore, the proposed controller is 0.8 PI
insensitive to perturbation of internal parameters and has 0.7
SMC
strong robustness. 3.8 3.9 4.0 4.1 4.2 4.3 4.4 4.5
t/s
D. AC Side Perturbation Experiment (a)
A phase-to-ground fault is set at the commutation bus of 2.5
the inverter side AC system, and the performance of SMC 2.0
Idc_I nv/pu

under large disturbance is verified by adjusting the 1.5

magnitude of the ground impedance to simulate different 1.0
strengths of fault. Also, compared that with the traditional PI 0.5 PI
control. In this paper, fault starts at 4s and clears at 4.05s. SMC
0
Fig.6 shows the simulation results of AC voltage, DC current, 3.8 3.9 4.0 4.1 4.2 4.3 4.4 4.5
t/s
and  angle under a single-phase ground fault with 0.97H
(b)
ground impedance. Fig.7 shows the simulation result of the
1.6 PI
above electrical quantities under the same fault but with
1.2 SMC
ground impedance of 0.96H.
¤_In v/rad

1.1 0.8

1.0 0.4
Uac_I nv/pu

0
0.9
3.8 3.9 4.0 4.1 4.2 4.3 4.4 4.5
0.8 PI t/s
SMC (c)
0.7
3.8 3.9 4.0 4.1 4.2 4.3 4.4 4.5 Figure 7. Responses of the different control strategy with single phase
t/s
ground fault(Lf=0.96H, un-improved system faced commutation failure).
(a) (a) Invertor AC voltage; (b) Invertor DC currrnt; (c) Invertor gamma angle.

307
 Because the occurrence of CF is closely related to the
start time of the fault, that is, initial fault voltage angle [19].
This paper tests different start time of faults within the range
of 180° firing angle and the performance of the two control
strategies are shown in Fig 8. The graph shows CF critical
ground impedance statistics.
1.00
Lf/H
[1] Z. Wanjun, HVDC Engineering Technology. Beijing, China: China
Electric Power Press, 2011, pp. 7–17.
[2] L. Xinnian, Y. Jun, L. Baiqing, et al. “Simulation analysis and
operation statistics of commutation failure in HVDC transmission
system” Power System Technology, vol.36, no.6, pp. 266–271, Jun.
2012.
[3] H. Mingxiao, W. Jun, X. Yonghai, HVDC Principle and Operation.
Beijing, China: China Machine Press, 2008, pp. 152–155.

[4] W. Zhinong, Y. Yang, L. Xiao, et al. “Direct-Current Predictive

0.95
Control Strategy for Inhibiting Commutation Failure in HVDC
Converter”.IEEE Trans. Power Sys., vol.29, no.5, pp. 2409–2417,
0.90 Feb. 2014.
4.000 4.002 4.004 4.006 4.008 [5] C. Shuyong, L. Xinnian, Y. Jun, et al. “A method based on the sin-
t/s cos components detection mitigates commutation failure in HVDC”
No CF occurs CF occurs under PI control Proceedings of the CSEE, vol.25, no.14, pp. 1–6, May. 2005.
CF occurs under SMC
[6] G. Chunyi, L. Chunhua, L. Yuchao, et al. “A DC Current Limitation
Figure 8. Comparison of commutation failure before and after Control Method Based on Virtual-resistance to Mitigate the
improvement under single-phase ground fault. Continuous Commutation Failure for Conventional HVDC.”
Proceedings of the CSEE, vol.36, no.18, pp. 4930-4937, Jun. 2016.
As shown in Fig.8, when a single-phase ground fault [7] L. Qiang,S. Yuanzhang. “Non linear stabilizing control of multi
occurs, SMC can effectively withstand CF. When fault machine systems” IEEE Trans. Power Sys., vol.4, no.1, pp.236–241,
occurs, PI control cannot change  in time, resulting in a Jan. 1989.
smaller  and insufficient commutation margin. Finally
bringing about CF. SMC can respond to instructions more
quickly, thus can increasing  in advance, ensuring sufficient
commutation margin, and therefore being more reliable.
Three phase ground fault situation is similar with above
so not be repeated here.
V. CONCLUSIONS
This paper proposes a control strategy for HVDC
transmission systems based on the global fast Terminal SMC.
The test results show that the controller can maintain the
stability of the rectifier side current and the inverter side
voltage respectively, realize fast tracking and independent
adjustment of the reference value, and is insensitive to
external disturbances and internal parameter perturbation.
This shows its strong robustness. To a certain extent, the
occurrence of CF is suppressed, and the stability of the
system is improved. The SMC in HVDC transmission
remains to be further studied in future. For example, in the
case of DC power grids, multiple feed-in conditions, and
different AC system short-circuit ratios.
ACKNOWLEDGMENT
The formulation of the experimental scheme and the
measurement and recording of the experimental data in this
article are based on the research project of the modeling and
control simulation system of the hybrid HVDC transmission
system which affiliated with the “2017 State Key
Laboratories Reserved Projects on Protection and Operation
Control for the Smart Grid” reserved by NARI Group Co.,
Ltd. Thanks to the support, I would like to express my
sincere thanks to the company.
REFERENCES
308
[8] S. Guoqiang, G. Kai, W. Zhinong, et al. “Adaptive PI Control Method
to Restrain Commutation Failure in HVDC System” High Voltage
Technology, vol.42, no.1, pp. 39–46, Jan. 2016.
[9] Bauman J,Kazerani M. “Commutation failure reduction in HVDC
system using adaptive fuzzy logic controller” IEEE Trans. Power Sys.,
vol.22, no. 4, pp. 1995–2002, Oct. 2007.
[10] D. Weihua, Z. Bo, Q. Dongyuan, et al. “The research of decoupled
state variable feedback linearization control method of three-phase
voltage source pwm rectifier” Proceedings of the CSEE, vol. 25, no. 7,
pp. 97–103, Mar. 2005.
[11] Y. Zhanxun, C. Xueyun. “Nonlinear variable structure control theory
and its application in power system” Automation of Electric Power
Systems, vol. 21, no. 7, pp. 86–88, Apr. 1997..
[12] L. Tianyun, Z. Zhihua, C. Feng, et al. “Design of Nonlinear Robust
Controller of HVDC Power Transmission System Based on Extended
State Observer and Terminal Sliding Mode Control” Power System
Technology, vol. 36, no. 10, pp. 190–195, Oct. 2012.
[13] Z. Jing, Z. Zhiwen, and X. Xiao. “Application of adaptive PID
control based on single neuron in HVDC” Electric Power Automation
Equipment, vol. 27, no. 3, pp. 61–63, Mar. 2007.
[14] L. Tianyun, L. Zhiming, Z. Jianhua, et al. “Design of Nonlinear
Controller for HVDC Power Transmission Based on Diffeomorphic
Mapping and Extended State Observer” Power System Technology,
vol. 35, no. 12, pp. 107–111, Dec. 2011.
[15] H. Jianhong, M. Xinhe, and W. Xiaowei. “Adaptive Global Fast
Terminal Sliding Mode Control for HVDC in AC-DC Parallel
Transmission System” Transactions of China Electrotechnical
Society, vol. 32, no. 11, pp. 8–16, Jun. 2017.
[16] L. Qiang, M. Shengwei, and S. Yuanzhang. Nonlinear Control of
Power Systems. Beijing, China: Tsinghua University Press, 2008, pp.
373.
[17] M.Szechtman, T.Wess, and C.V.Thio. “First benchmark model for
HVDC control studies” International Conference on AC and DC
Power Transmission, London, UK: IET, 1991, pp. 374–378.
[18] L. Jinkun. Sliding mode control design and MATLAB simulation[M].
3rd ed., Beijing, China: Tsinghua University Press, 2015, pp. 39
[19] W. Gang, L. Zhikeng, H. Min, et al. “Influence of Initial Fault
Voltage Angle on Commutation Failure Identification in a HVDC
System” Automation of Electric Power Systems, vol. 34, no. 4, pp.
49–55, Feb. 2010.