504
1, FEBRUARY 2007
Repetitive-Based Controller for a UPS Inverter to
Compensate Unbalance and Harmonic Distortion
G. Escobar, Member, IEEE, A. A. Valdez, Student Member, IEEE, J. Leyva-Ramos, Member, IEEE, and
P. Mattavelli, Member, IEEE
Abstract—This paper discusses a repetitive-based controller for
an uninterruptible power supply (UPS) inverter. It is shown that
a bank of resonant filters, used as a refinement term for harmonic
compensation in earlier works, is equivalent to a repetitive scheme
with a particular structure. The latter is implemented using a
simple feedback array with a delay line, thus making the imple-
mentation relatively easy. More precisely, the repetitive scheme
takes a negative feedback structure plus a feedforward path when-
ever the odd harmonics are considered for compensation only.
The repetitive scheme, equivalent to the bank of resonant filters,
acts as a refinement term to reject the harmonic distortion caused
by the unbalanced and distorted load current, and thus, allowing
the UPS inverter to deliver an almost pure sinusoidal balanced
voltage. Experimental results in a 1.5 KVA three-phase inverter
are included to show the performance of the proposed controller.
Index Terms—Delay lines, harmonic distortion, repetitive con-
trol, uninterruptible power systems.
I. INTRODUCTION
I T is well known that the main control objective in a uninter-
ruptible power supply (UPS) inverter is the tracking of the
delivered voltage towards a desired sinusoidal reference in spite
of the presence of distorted loads. Among the several control
solutions for this tracking problem, at least for the ones that ex-
hibit an acceptable performance, it is possible to identify two
main components. First, a set of terms aimed to guarantee a
good transient response, and second, a set of terms aimed to
guarantee an almost perfect tracking in the steady state. The
former is usually composed of damping terms, basically pro-
portional terms acting on the voltage error and, in most cases,
on the currents. For the second component, different approaches
have been presented, for instance a bank of integrators operating
on multisynchronous frame variables [1], a bank of resonant
filters tuned at the harmonics under compensation [2]–[5]. All
these approaches are based on the well-known internal model
principle [6] which states that the controlled output can track
Manuscript received October 26, 2004; revised January 2, 2006. Abstract
published on the Internet November 30, 2006. This work was supported in part
by the National Council of Science and Technology of Mexico (CONACYT)
under Grant SEP-2003-C02-42643, and in part by the Bilateral Laboratory
France-Mexico of Applied Control (LAFMAA) under grant MOPOFA-2004.
G. Escobar is with the Division of Applied Mathematics, IPICYT, 78216,
San Luis Potosí, Mexico. (e-mail: gescobar@ipicyt.edu.mx).
A. A. Valdez and J. Leyva-Ramos are with the Divsion of Applied Math-
ematics, IPICYT, 78216, San Luis Potosí, México. (e-mail: avaldez@ipicyt.
edu.mx; jleyva@ipicyt.edu.mx).
P. Mattavelli is with the DIEGM, Udine University, 33100, Udine, Italy.
(e-mail: mattavelli@uniud.it).
Color versions of one or more of the figures in this paper are available online
at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TIE.2006.888803
0278-0046/$25.00 © 2007 IEEE
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 54, NO.
a class of reference commands without a steady state error if
the generator (or the model) of the reference is included in the
stable closed-loop system. It is well known that the generator of
a sinusoidal signal, i.e., containing only one harmonic compo-
nent, is a harmonic oscillator, that is, a resonant filter. It is then
clear that, there would be as much harmonic oscillators as har-
monics to compensate, which may represent a drawback in the
case where highly distorted loads are considered. Another ap-
proach that has shown promising results is the repetitive control
[7]–[10]. This technique arises as a practical and simple solution
to the tracking or rejection of periodic signals. See [11]–[13],
and the references therein for applications of repetitive control
on power electronic systems such as rectifiers, inverters and ac-
tive filters.
In the UPS inverter application, either the inductor current
or the capacitor current measurements can be used for the con-
troller implementation. It has been pointed out that the perfor-
mance of UPS inverters can be considerably improved if the ca-
pacitor current is effectively controlled [14], [15]. The above is
clear from the fact that, while the output voltage is typically the
controlled signal, its derivative is proportional to the capacitor
current. Moreover, since this current is small and alternate in
nature, it may be sensed with a small and inexpensive current
transformer [14]. However, as neither the load current nor the
inductor current are measured, this controller is unable to detect
any anomaly arising on the load side [16], [17]. This drawback
has made the inductor current based controllers the preferred
strategy when a safer operation is required.
In [3], a controller is proposed that uses a combined mea-
surement of both load and capacitor currents in a single current
sensor. This measurement provides a weighted sum of both cur-
rents, which is then used as the feedback variable in the control
loop. In fact, the use of this combined current variable justifies
a more general approach, that is, depending on the weights as-
signed, it is possible to retrieve either, the inductor current or
the capacitor current. To better understand this, notice that, in
the particular case where both weights are unitary, this com-
bined current is simply the inductor current. On the other hand,
assigning a zero weight to the load current leads to the capacitor
current case. Therefore, it is expected that a good performance,
close to the capacitor current based controller, can be obtained if
a bigger weight is assigned to the capacitor current, compared to
the weight assigned to the load current in the weighted sum. Ad-
ditionally, the inductor current can be easily estimated using the
information contained in the combined current measurement,
which can be later used for protection purposes. The weights are
assigned by winding, in the same current sensor, a given number
of turns for each current. It is clear that this hardware-based se-
lection of the weights imposes a limitation on their reachable
ESCOBAR et al.: REPETITIVE-BASED CONTROLLER FOR A UPS INVERTER 505

inductance;
capacitance;
dc voltage source;
, weights for and ;
capacitor voltages vector ;
control vector ;
inductor currents vector ;
capacitor currents vector ;
load currents vector ;
Fig. 1. Three-phase three-wire UPS inverter system. combined currents vector ;
where parameters , , and are all assumed unknown
constants. The actual control input represents the duty ratio
values. It has been observed, however, that preserving a ratio of a pulse-width modulation (PWM) switching sequence at a
of 10:1 (giving 10 turns for the capacitor current and 1 turn for relatively high frequency. Parameters and are the known
the load current) between these two parameters yields an accept- weights to form the combined current . Current
able response. The expression of this controller, which is briefly is an unbalanced periodic signal which can be expressed
described here, is very close to the conventional one, i.e., it in- as the combination of a fundamental component at the fixed
cludes a proportional term on the output voltage error, plus a
fundamental frequency , and its harmonics of higher order.
proportional term on the current, and, in contrast to the conven-
The control objective consists in tracking a purely balanced
tional one, it includes a bank of resonant filters tuned at the fre-
sinusoidal voltage reference of amplitude given by
quencies of the harmonics under compensation. This controller
was obtained following adaptive techniques which gave, in prin-
ciple, a stable and robust controller, aimed to guarantee an al-
most perfect sinusoidal balanced voltage at the output despite
of the presence of a distorted and unbalanced load current.
In this paper, it is shown that the bank of resonant filters of
the controller proposed in [3] has an alternative expression in in spite of the presence of unbalanced periodic disturbances. No-
terms of a single delay line. It is shown that, in case that only tice that this reference is composed by the positive sequence
odd harmonics are considered for compensation, this expression fundamental component only, where represents the funda-
can be easily built with a pure delay line in a negative feed- mental frequency. In fact, the control objective includes two
back configuration plus a feedforward path, which coincides problems, namely, reference tracking to a purely balanced sinu-
with the repetitive scheme recently presented in [18]. In other soidal signal, and disturbance attenuation of higher harmonics
words, the whole bank of resonant filters can be replaced by
induced by the load. Here and in what follows will be used
a simpler repetitive scheme, thus, reducing the computational
for references and for values in the equilibrium.
load, while preserving, and even improving, the performance.
Let us rewrite the system dynamics (1)–(2) in terms of the
The resulting controller will have a familiar and simple form
combined current , this yields
which is suitable for implementation, where the introduction of
the repetitive scheme is the most relevant feature. Therefore, the
proposed controller represents an alternative implementation to (4)
the controller based on resonant filters. Finally, the proposed
control scheme has been implemented and tested in a 1.5 KVA (5)
three phase UPS inverter. The experimental results are presented
here to assess the performance of the proposed scheme. The equilibrium trajectories of the overall system by forcing
are given by

II. SYSTEM DESCRIPTION AND PROBLEM FORMULATION (6)

The basic setup for the UPS inverter application discussed in where has been used.
this paper is shown in Fig. 1. This same setup was used in [3] for Notice that, depends on the unavailable signal and un-
the controller design using the combined current measurement. known parameter , therefore, it cannot be used as a reference
The system dynamics, in fixed frame coordinates, are de- to solve the tracking problem, making the control design more
scribed by the averaged model involved.

(1) III. CONTROLLER BASED ON AN ADAPTIVE APPROACH

In [3], a stable robust controller was proposed to solve the
(2) problem stated above. This controller was integrated by a feed-
(3) forward term, a proportional term on the output voltage error, a
506
Fig. 2. Block diagram of the proposed controller plus some feedforward terms.
proportional term on the combined current, and a bank of har-
monic oscillators operating on the output voltage error. These
resonant filters were tuned at the frequencies of the harmonics
under compensation, in this case, the odd harmonics which pre-
sumably are the main components of the load current. The res-
onant filters were derived following an adaptive approach, and
appeared as a refinement term to guarantee the exact tracking of
the output voltage towards its pure sinusoidal reference while
preserving a good dynamic performance. Both sequences, posi-
tive and negative, were taken into account in the design process,
thus the controller was able to deal with unbalance. The expres-
sion for this controller is given by
where represents the capacitor voltage error,
, are two positive gains introducing damping. Clearly, the
interesting part of this controller is the bank of resonant filters
tuned at odd frequencies of the fundamental , each with an
associated gain , . A block diagram of con-
troller (7) is shown in Fig. 2.
In what follows, it is shown that the bank of resonant filters
has an alternative expression in terms of an hyperbolic tangent
function, and moreover, it can be implemented using a particular
feedback array with a delay line.
IV. PROPOSED REPETITIVE-BASED CONTROLLER
Let us manipulate the sum of resonant filters as follows:
where it is assumed that all odd harmonics are considered for
compensation, and , improving the selective nature of the whole controller which
has been fixed, with a positive design parameter.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 54, NO. 1, FEBRUARY 2007
Fig. 3. Block diagram and poles-zeros location of the negative-feedback repet-
itive compensator plus feedforward path.
An interesting observation here is that, the expression inside
the parenthesis on the right-hand side (RHS) of (8) has the fol-
lowing equivalent expression in terms of the hyperbolic tangent
[19]:
(9)
This hyperbolic tangent can also be expressed in terms of
exponentials as follows [19]:
(10)
Direct multiplication of both numerator and denominator in
the previous expression by yields
(7) (11)
Thus, the complete equivalent expression for the bank of res-
onant filters is
(12)
Notice that, the expression inside the parenthesis on the RHS
of (12) can be easily implemented as a negative feedback of a
single delay line plus a feedforward path, as shown in Fig. 3.
This scheme was recently proposed in [18] and was referred as
negative-feedback repetitive controller plus feedforward path.
Thus, the case presented here constitutes an application of such
scheme to the harmonic compensation in a UPS inverter. Notice
that, in this case, the controller includes an additional integrator
due to the structure of the original bank of resonant filters and a
gain . In what follows, some conclusions extracted from [18]
are briefly discussed for completeness.
As shown in Fig. 3, this scheme introduces an infinite number
(8) of poles in odd multiples of the fundamental frequency, and thus
it is able to compensate for all odd harmonics. On the other hand,
the feedforward path creates an infinite number of zeros located
between two consecutive poles, i.e., in the even multiples, thus
will in principle allow bigger gains and better performance.
ESCOBAR et al.: REPETITIVE-BASED CONTROLLER FOR A UPS INVERTER 507

First, to tune parameters and , the following transfer

function of the closed-loop system is considered:

Fig. 4. Practical modification to the negative feedback compensator with feed-

forward (odd harmonics). where describes the relation from a periodic disturbance
to the output voltage error without considering any harmonic
compensator (either, the bank of resonant filters or the repetitive
controller), that is, only the action of the damping terms associ-
ated to and is considered (see [3] for the derivation of this
closed-loop system). To guarantee a good performance, its fre-
quency response is forced to have a critically damped behavior,
i.e., a resonance peak of zero decibels (dB). The last is equiva-
lent to fix the damping coefficient to at least 0.7071. As a con-
sequence, the bandwidth of the closed-loop system is computed
as which, in fact, equals the natural
frequency of the system. It is proposed to select the as 1/10
of the switching frequency, that is, , hence, pa-
rameters and can be tuned as follows:
Fig. 5. Block diagram of the proposed repetitive-based controller.

(13)
It is recommended in [18] to include a gain (14)
as shown in Fig. 4. The aim of this modification is to limit the
amplitudes of the peaks and, at the same time, to reinforce the Second, to tune parameters and , the repetitive scheme
stability. In such case, the peaks have a magnitude limited to is manipulated as follows:
and the notches have a magnitude not smaller
than .
Remark IV.1: In [18], the introduction of a simple low pass
filter (LPF) is also recommended to restrict the bandwidth of the (15)
controller in an analog implementation. In the present paper,
however, only the introduction of the gain has been consid-
ered because the controller is implemented digitally and the where has been defined, with a positive param-
sampling time is small compared with the bandwidth recom- eter relatively small.
mended for the LPF, thus making it unnecessary. The hyperbolic tangent in the previous expression has also
Moreover, recalling that the following equivalent expression [19]:
for all , and using the fact that
, a simpler expression
for the proportional gain on the voltage error can be obtained,
which is given by (16)
Since is chosen very close to 1, then is arbitrarily small,
and thus, the in the numerator and the term in the denom-
inator are negligible in the range of frequencies of interest, this
yields
The block diagram of the overall proposed repetitive-based
controller is shown in Fig. 5. Notice that, the bank of resonant
filters has been replaced by the proposed repetitive scheme. No- (17)
tice also that, a gain has been introduced to allow control
over the gain produced in the peaks, in conjunction with gain Notice that, the expression on the RHS defines a bank of
. Hence, gains and should be combined to obtain the bandpass filters (BPFs). In what follows, only the BPF tuned
appropriate frequency response. at the fundamental component, i.e., , is considered to ob-
tain expressions for and . In this case, the gain at the
V. CONTROL PARAMETERS SELECTION resonant frequency and the corresponding quality-factor are
Regarding the selection of controller parameters, a set of rea- given by
sonable approximations can be used for an initial setting of their
values.
508 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 54, NO. 1, FEBRUARY 2007

After simple computations, and using the fact that

the following expressions for and in
terms of and are obtained:

(18)

On the other hand, recalling that the peaks of resonance in

the repetitive part of the controller have a magnitude limited
to , it is easy to see that the overall gain,
including the pole in the origin and the gain , at the reso-
nant frequencies, and in special at the fundamental, is given by
. Out of this, the following
alternative expression for is obtained:

Fig. 6. Load current: (top) current signal i (only one phase) in time domain
By proposing a quality factor considerably large, then the (x-axis 200 ms/div, y -axis 5 A/div) and (bottom) its corresponding frequency
above expression can be approximated as spectrum (x-axis 62.5 Hz/div, y -axis 20 dB/div).

that is, the expression for in (18) is an approximation valid

for relatively large .
Summarizing, parameters and can be initially tuned
with (13)–(14), which mainly depend on the switching fre-
quency and the system parameters , and . In addition,
parameters and can be tuned using (18) which depend on
the more intuitive design parameters and .

VI. EXPERIMENTAL RESULTS

A three-phase three-wire prototype has been built using the
following parameters: , , ,
switching frequency , output voltage am-
plitude 110 V with a fundamental frequency Fig. 7. Output voltage steady state response (only one phase) (from top to
( ). A dSPACE card model ACE1103 has bottom): the reference voltage v (t), the actual output voltage v (t), and the
been used to implement the controller with a sampling rate error v~ (t) (x-axis 4 ms/div, y -axis 100 V/div).
fixed to . The time delay has been fixed to
to deal with the odd
harmonics of . A discrete pure delay of the form The proposed repetitive controller, shown in Fig. 5, has been
has been used to implement the delay line in the repetitive implemented. The other controller design parameters were se-
scheme. Therefore, a produces the required delay time, lected as follows: , , and
i.e., for a sampling frequency of 12 kHz. .
The sensors used to build are the closed-loop hall-effect Fig. 7 shows, for one phase, (from top to bottom) the time
CLN-50 current sensors. In each CLN-50 both conductors, for responses of the output voltage reference , the actual output
and , have been wound in order to obtain and voltage and the tracking error , using the proposed
. A voltage source composed by a three phase diode repetitive controller based on . Notice that the actual voltage
rectifier with a dc capacitor of 235 feeding a resistor of (middle plot) is almost a sinusoidal signal and has an ex-
100 is connected to the inverter output as a nonlinear load. A cellent tracking over its reference (top plot), and thus the
resistor of 150 is connected between two phases to produce error is made relatively small. The responses of the other
unbalance. Fig. 6 shows (top plot) the time response for one of two phases are very similar and are omitted here for the sake of
the load currents, and (bottom plot) its corresponding frequency space limitation.
spectrum. Notice that the load current is composed mainly by Fig. 8 shows a comparison between the responses of the ac-
odd harmonics of the fundamental , mainly first, third, fifth, tual output voltage using the proposed repetitive controller
and seventh components. (bottom plot), and a conventional controller (top plot). The latter
ESCOBAR et al.: REPETITIVE-BASED CONTROLLER FOR A UPS INVERTER
Fig. 8. Output voltage steady state response v (t) in black, and the corre-
sponding reference v (t) in gray (only one phase). (top) Conventional con-
troller based on i measurements and (bottom) proposed controller with repet-
itive-based harmonic compensation (x-axis 4 ms/div, y -axis 100 V/div).
Fig. 9. Frequency spectrum of the output voltage v (t). (top) Conventional
controller based on i measurements, and (bottom) proposed controller with
repetitive-based harmonic compensation (x-axis 62.5 Hz/div, y -axis 20 dB/div).
uses the measurement of and does not provide harmonic
compensation. Notice that the proposed controller significantly
exceeds the performance of the conventional one, even though,
for the conventional controller the gains have been adjusted to
reach the best possible response. The corresponding voltage ref-
erences is included (in gray) in the same plots to put in evidence
the better tracking reached with the proposed controller. Fig. 9
shows the frequency spectrum of (top plot) the conventional
controller and (bottom plot) the proposed controller. Notice that,
in the proposed controller, the odd harmonics have been elimi-
nated almost completely by the repetitive-based harmonic com-
pensator, leading to an output voltage mainly composed by a
fundamental component despite of the presence of highly non-
linear loads.
509
Fig. 10. (top plot) Steady state response of the three output voltages v , v ,
v (x-axis 4 ms/div, y -axis 100 V/div) and (three bottom plots) distorted and
unbalanced load currents i , i , i (x-axis 4 ms/div, y -axis 10 A/div).
Fig. 11. Transient responses after the nonlinear and unbalanced load is con-
nected. (top) Output voltage v (x-axis 20 ms/div, 100 V/div) and (bottom)
load current i (x-axis 20 ms/div, y -axis 5 A/div).
Fig. 10 shows, for the proposed controller, the steady state
response of the output voltages for the three phases , ,
(top plot), which are balanced and almost sinusoidal, de-
spite of the distorted and unbalance load current. The last three
plots represent the three phase load currents , , .
Fig. 11 shows the transient response of the output voltage
(upper plot) when the nonlinear unbalanced load is connected
to the inverter under the proposed controller. The corresponding
current load is shown in the bottom plot (only one phase is
shown for the sake of space limitations). Notice that after a rel-
atively small transient the voltage keeps the desired sinusoidal
shape and amplitude.
VII. CONCLUDING REMARKS
In this paper, a repetitive-based controller was designed to
allow a three phase inverter to deliver an almost sinusoidal and
510 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 54, NO. 1, FEBRUARY 2007
balanced voltage, despite of the existence of distorted and un-
balanced load currents. The idea behind the repetitive scheme
is to compensate for the odd harmonic components of a pe-
riodic distortion induced in the output voltage due to the dis-
torted load current. The key observation here is that, the repet-
itive scheme is equivalent to a bank of resonant filters. More
precisely, since only odd harmonics were considered for com-
pensation, the repetitive scheme involved a negative feedback
structure plus a feedforward path. Moreover, a discussion has
been included to give some guidelines on the selection of the
controller parameters. Finally, experimental results have been
presented to exhibit the improved performance of the proposed
controller in comparison with the conventional one.
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G. Escobar (M’00) received the Ph.D. degree from
the Signals and Systems Laboratory, LSS-SUP-
ELEC, Paris, France, in May 1999.
He was a Visiting Researcher at the Northeastern
University, Boston, MA, from August 1999 to June
2002. In July 2002, he joined the Research Institute
of Science and Technology, San Luis Potosí, México
(IPICYT), where he holds a Professor-Researcher
position. His main research interests include mod-
eling and control of power electronic systems,
specially active filters, inverters and electric drives.
A. A. Valdez (S’05) was born in San Luis Potosí,
México, in 1978. He received the degree in electronic
engineering with honors from the Technological In-
stitute, San Luis Potosí, in 2003, and the M.S. de-
gree in control and dynamical systems from the Ap-
plied Mathematics Department, Research Institute of
Science and Technology, San Luis Potosí IPICYT, in
2005. He is currently working toward the Ph.D. de-
gree in control and dynamical systems in the IPICYT.
His main interest is the control of power electronic
systems.
J. Leyva-Ramos (S’78–M’78) received the M.S.
degree in electrical engineering from the California
Institute of Technology, Pasadena, in 1978, and
the Ph.D. degree in electrical engineering from the
University of Houston, Houston, TX, in 1982.
He was an Associate Professor at the Iberoameri-
cana University, a Radio Frequency and Microwave
Engineer at the Jet Propulsion Laboratory, a Teaching
Fellow at the University of Houston, Dean of Profes-
sional Studies and Engineering at the ITESM-SLP,
Mexico, and a Professor at the University Autónoma
de San Luis Potosí, Mexico. Currently, he is the Head of the Applied Mathe-
matics Division in IPICYT, SLP, México. His research interests are modeling
of switch-mode dc–dc converters, robust control, and linear systems.
Dr. Leyva-Ramos is a member of Eta Kappa Nu, Tau Beta Pi, Sigma Xi,
Mexican Academy of Sciences, and Mexican Academy of Engineering.
P. Mattavelli (M’00) received the Dr. degree with
honors and the Ph.D. degree, both in electrical engi-
neering, from the University of Padova, Padova, Italy,
in 1992 and 1995, respectively.
From 1995 to 2001, he was a researcher at the
University of Padova. In 2001, he joined the De-
partment 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 field 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 Italian Association of Electrical and Elec-
tronic Engineers (AEI).