2740 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 68, NO.

4, APRIL 2021

A Multicell Network Control and Design for

Three-Phase Grid-Connected Inverter
Li Peng , Member, IEEE, Weibiao Wu , and Ke Hu

Abstract—Three-phase grid-connected inverter with the
LCL filter is commonly controlled in synchronous frame
in order to independently control active power and reac-
tive power. And proportional-integral controller is usually
adopted in synchronous frame to achieve zero steady error
of inverter fundamental current. However, d–q axes cross-
coupling issue may deteriorate the dynamic and steady-
state performance. Moreover, the weak damping character-
istic of the LCL filter will lead to resonance issue. Both
issues are analyzed by the established complex-vector
model of the inverter in this article. A novel multicell net-
work control structure is proposed to address both cou-
pling and resonance problems. To design all parameters
of the multicell network controller, a multiple parameter
design method is proposed. Moreover, this design method
can adapt to weak grid well. Based on the proposed con-
trol structure and design method, d–q axes cross-coupling
issue can be addressed thoroughly, and the damping per-
formance is also improved obviously. Besides, the excel-
lent steady-state and dynamic performances are realized
simultaneously. Finally, the superior performances of the
proposed control are verified by simulation and experimen-
tal results.
Index Terms—Control parameters design, decoupling,
grid-connected inverter, LCL filter, multicell network con-
trol, response performances.
I. INTRODUCTION
ANY grid-connected converters are expected to be
M able to control independently active power and reactive
power, so they are commonly controlled in synchronous refer-
ence frame. For a three-phase grid-connected inverter, current
control is the vital part because it is responsible for regulating
active power current and reactive power current into grid [1],
[2]. Thus, many researchers are aimed at presenting different
current controllers and analyzing their control performances [3]–
[5]. There are not only proportional-integral (PI), proportional-
resonant, repetitive controller [3], but also the nonlinear
Manuscript received September 29, 2019; revised December 25,
2019 and February 16, 2020; accepted February 20, 2020. Date of pub-
lication March 18, 2020; date of current version December 8, 2020. This
work was supported by National Natural Science Foundation of China
under Grant 51577078. (Corresponding authors: Li Peng; Weibiao Wu.)
The authors are with the State Key Laboratory of Advanced Elec-
tromagnetic Engineering and Technology (AEET), School of Electri-
cal and Electronic Engineering, Huazhong University of Science and
Technology, Wuhan 430074, China (e-mail: pe105@mail.hust.edu.cn;
wuweibiao@hust.edu.cn; d201780384@hust.edu.cn).
Color versions of one or more of the figures in this article are available
online at http://ieeexplore.ieee.org.
Digital Object Identifier 10.1109/TIE.2020.2978712
controller such as sliding-model control, robust H control,
Lyapunov function-based control, and so on [4]. Among them,
PI controller is extensively adopted because of zero steady-state
error response in synchronous frame for fundamental current,
simple, and easy implementation.
However, there is d–q axes cross-coupling issue when grid-
connected inverter is controlled in synchronous frame. To elimi-
nate switching frequency harmonics of the inverter, the LCL filter
is widely used due to high attenuation rate of −60 dB/dec [5].
But the LCL filter causes the increase of d–q axes cross-coupling
terms and the resonance issue [6], [7]. These issues will worsen
dynamic and steady-state performances of the grid-connected
inverter. Meanwhile, the active power and reactive power current
of inverter cannot be controlled full independently.
Some researchers have made large contributions on the d–q
axes cross-coupling issue. In [8], multivariable-PI-based dq con-
troller is presented. The parameters design method is derived by
the internal-model principle. However, the proposed decoupling
controller is difficult to implement in practice due to high-order
transfer function. In [9], the intelligent optimization control
based on loop shaping idea is proposed. Its design process is
complicated due to the optimization algorithm calculation bur-
den. And this controller is also a high-order one. In [10], a simple
decoupling solution using the command current proportional
feed-forward is presented. The work in [11] is similar to that
in [10], presents a preprocessed reference current feed-forward
decoupling method. In [12], a simplified feedback lineariza-
tion control is proposed to solve d–q axes cross coupling by
a step-by-step decoupling design method. However, multiple
physical variables need to be measured and the design process
is complex. A similar control to [12] is found in [13]. The authors
in [14] use the approximate L filter instead of the LCL filter to
simplify controller and design process. The solutions in [10],
[11], and [14] only are approximate decoupling for the inverter
with the LCL filter. Other solutions in [12] and [13] are full
decoupling, but the control structures are complex and large
number of measured variables are needed. It is seen that simple,
exact, and full decoupling of high-order converter need to be
explored.
To address resonance issue caused by the LCL filter, there are
also many references based on novel ideas [5], [15]–[17], which
are mainly divided into two types: passive damping and active
damping method. The latter is more popular due to high effi-
ciency. Active damping methods are usually realized by different
feedback (e.g., capacitor current, capacitor voltage, inverter-side

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 PENG et al.: MULTICELL NETWORK CONTROL AND DESIGN FOR THREE-PHASE GRID-CONNECTED INVERTER 2741

current, grid-side current, combined multiple feedback, and so

on) or different filters (e.g., notch filter, SOGI, and so on) [5],
[15]–[17]. Among them, the capacitor current feedback active
damping method is the most commonly used due to simple and
the good damping performance [5]. However, these references
are either focused on only active damping issue or both decou-
pling and active damping issues. For the latter, because control
parameters of decoupling and damping are designed separately, Fig. 1. Three-phase grid-connected inverter circuit with the LCL filter.
their interaction is overlooked.
With extensive applications of the grid-connected inverter
with the LCL filter, it is necessary to explore new control LCL filter parameters are designed by [18]–[21]. In general,
structure and the new controller design method in order to L1x = L1 , R1x = R1 , L2x = L2 , R2x = R2 , and Cx = C (x =
meet the increasing power quality requirements of the grid. a, b, c) are obtained. Here, a factor δ is introduced. Based on
Based on complex-vector analysis, a novel multicell network KCL and KVL rules, the unified differential equations of the
control structure is proposed in this article to address coupling, grid-connected inverter are derived by
resonance problem, dynamic, and steady-state performances
di1,zb
simultaneously. To design all control parameters of the control uinv,zb = R1 i1,zb + L1 + (1 − δ)jωL1 i1,zb + uC,zb
structure, a multiple parameter design method called zero-pole dt
(1a)
full placement is proposed. The LCL filtered grid-connected
inverter with the proposed control can be completely decoupled duC,zb
i1,zb = C + (1 − δ)jω CuC,zb + i2,zb (1b)
to realize independent control of active and reactive power. The dt
damping of the inverter has been greatly improved at the same di2,zb
time. Besides, the excellent steady-state and dynamic perfor- uC,zb = R2 i2,zb + L2 + (1 − δ)jωL2 i2,zb + u2,zb
dt
mances are realized simultaneously. Finally, the simulation and (1c)
experiment are presented to confirm the effectiveness of the
proposed control. where the subscript zb = abc, αβ or dq. When zb = abc or
αβ reference frame, δ = 1; when zb = dq reference frame,
δ = 0. uinv,zb is the inverter bridge output voltage, iinv,zb is the
II. MODELING AND ANALYSIS inverter-side current, ω is the fundamental angular frequency,
uc,zb is the filter capacitor voltage, i2,zb is the grid-side current,
A. Complex-Vector Model and u2,zb is the grid voltage.
The three-phase three-line grid-connected inverter circuit The d–q axes components of all physical variables are written
with the LCL filter is shown in Fig. 1, in which udc is the dc as the complex-vector type, i.e., χdq = χd + jχq [22]. It is noted
voltage, L1x and R1x (x = a, b, c) are the inverter-side inductor that the three-phase grid-connected inverter is commonly con-
and its parasitic resistor, Cx are the filter capacitor, L2x and trolled in synchronous reference frame in order to independently
R2x are the grid-side inductor and its parasitic resistor. The control active power and reactive power. Therefore, δ = 0 is

i2,dq = Gp−orig uinv,dq + Gdis−orig u2,dq (2a)

1
Gp−orig = (2b)
L1 L2 C(s + jω) + (R1 L2 C + R2 L1 C)(s + jω)2 + (L1 + L2 + R1 R2 C)(s + jω) + R1 + R2
3

p−orig =
Gself
 
L1 L2 Cs3 + s2 (L2 R1 C + L1 R2 C) + L1 + L2 + R1 R2 C − 3CL1 L2 ω 2 s + R1 + R2 − (L2 R1 C + L1 R2 C) ω 2
⎧    ⎫
⎨ L1 L2 Cs3 + s2 (L2 R1 C + L1 R2 C) + s L1 + L2 + R1 R2 C − 3CL1 L2 ω 2 + R1 + R2 − (L2 R1 C + L1 R2 C) ω 2 2 ⎬
⎩ + 3L L Cωs2 + 2 (L CR + L CR ) ωs + (L + L + R R C) ω − L L Cω 3 2 ⎭
1 2 2 1 1 2 1 2 1 2 1 2
(2c)

p−orig =
Gcross
3L1 L2 Cωs2 + 2 (L2 CR1 + L1 CR2 ) ωs + (L1 + L2 + R1 R2 C) ω − L1 L2 Cω 3
⎧    ⎫
⎨ L1 L2 Cs3 + s2 (L2 R1 C + L1 R2 C) + s L1 + L2 + R1 R2 C − 3CL1 L2 ω 2 + R1 + R2 − (L2 R1 C + L1 R2 C) ω 2 2 ⎬
⎩ +3L L Cωs2 + 2 (L CR + L CR ) ωs + (L + L + R R C) ω − L L Cω 3 2 ⎭
1 2 2 1 1 2 1 2 1 2 1 2
(2d)

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 2742
TABLE I
MAIN CIRCUIT PARAMETERS
Fig. 2. Bode diagrams of the original plant transfer functions. (a) Self-
axis. (b) Cross axis.
substituted into (1) and the complex-vector expression of the
inverter plant is derived by equation (2a)–(2b) shown at the
bottom of the previous page, where Gp−orig is the complex-
vector transfer function of the original plant and Gdis-orig is
the complex-vector disturbance transfer function of the original
plant. In addition, the self-axis and cross-axis transfer functions
of the original plant (2b) are also derived by equation (2c)–(2d)
shown at the bottom of the previous page.
Based on simulation values in Table I, the Bode diagrams of
p−orig and Gp−orig (e.g., R1 = R2 = 0.01 Ω) in Fig. 2 show that
Gself cross
there are multiple resonance peaks in self-axis and cross axis of
the original plant. They illustrate that both self-axis and cross
axis of the inverter original plant will cause the stability issue
easily.
Considering the worst stability condition, the parasitic re-
sistors (i.e., R1 and R2 ) are omitted, so Gp−orig and Gdis−orig
become Gp and Gdis given as follows:
i2,dq = Gp uinv,dq + Gdis u2,dq
1
= uinv,dq
  A 1 B1   ∗ 
Dpr + jDpi
s2 L1 C + 1 − ω 2 L1 C + j(s2ωL1 C)
− u2,dq
Dpr + jDpi
where Dpr = s L1 L2 C + s(L1 + L2 − 3ω L1 L2 C) and
3 2
Dpi = s2 3ωL1 L2 C + ωL1 + ωL2 − ω 3 L1 L2 C are the real
and imaginary part of the characteristic equation in the
plant complex-vector transfer function, respectively. The
resonance
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 68, NO. 4, APRIL 2021
Fig. 3. Inverter plant model and the conventional control block
diagram.
There are three pairs of d–q axes cross-coupling paths (i.e., ωL1 ,
ωC, and ωL2 ). If the grid-voltage disturbance is eliminated by
feedforward control [23], (3a) can be simplified as
i2,dq
= Gp . (3b)
uinv,dq
The imaginary part of the denominator in the plant complex-
vector transfer function (3b) reflects the coupling influence. On
the other hand, the real part of the denominator in (3b) lacks the
s2 term, which illustrates the serious resonance issue caused by
the LCL filter. Similarly, the imaginary part of the denominator
in (3b) is also short of s term, which means the weak damping
performance. Note that the analysis process will be simple and
understandable if the real and the imaginary part of complex-
vector transfer functions are separately looked at.
B. Conventional Control Analysis
To decouple three pairs of d–q axes cross-coupling terms, the
conventional decoupling control is depicted in Fig. 3 (marked
by red line) and feedback factor K = ω(L1 + L2 )/Ginv is
proposed to simplify implementation, where Ginv is the inverter
equivalent gain [24]. Note that control delay time impacts on
the inverter performance. However, with the development of
new semiconductor devices and microprocessor technique, high
switching frequency and fast control process of converter are
being realized gradually [25]. The influence of delay time will
be decreased. Here, control methods are analyzed under ignoring
delay time. Based on (3b), Fig. 3 and the value of K, the closed-
loop transfer function matrix of the control with the conventional
decoupling (called control  1 ) is derived by
i2,d − D1 i2,d
= D 1
(4)
i2,q B1 A 1
D1 D1
i∗2,q
(3a)
where A1 = Ginv Gi D1r , B1 = −Ginv Gi D1i , D1 = D1r 2
+
D1i , D1i = −ω L1 L2 C + s 3ωL1 L2 C − Ginv K + ωL1 +
2 3 2
ωL2 = −ω 3 L1 L2 C + s2 3ωL1 L2 C, D1r = s3 L1 L2 C +
s(L1 + L2 − 3ω 2 L1 L2 C) + Ginv Gi . It is seen from B1 = 0
that the inverter is not decoupled fully. Moreover, the existence
 angular frequency of the LCL filter is ωr = of coupling will also impact on other response performances.
(L1 + L2 )/(L1 L2 C) under the worst condition R1 = R2 = 0 Considering the resonance issue caused by the LCL filter, the
[5]. The plant model in synchronous frame is plotted in Fig. 3. capacitor current feedback is usually adopted and the factor is

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 PENG et al.: MULTICELL NETWORK CONTROL AND DESIGN FOR THREE-PHASE GRID-CONNECTED INVERTER 2743

Kd . This conventional active damping control is also shown in

Fig. 3 (i.e., marked by blue line). In [14], the active damping
factor is given as Kd = 2ξωn L1 /Ginv , where ξ is the damping
ratio, ωn is the natural angular frequency. As for the current
controller, Gi = kp + ki /s is usually adopted. Based on (3b)
and Fig. 3, the closed-loop transfer function matrix of the control
with the conventional active damping (called control  2 ) is
yielded by
  A 2 B2   ∗ 
i2,d − D2 i2,d
= D 2
(5)
i2,q B2 A 2
D2 D2
i∗2,q Fig. 4. Multicell network control structure.

where A2 = Ginv Gi D2r , B2 = −Ginv Gi D2i , D2 = D2r 2

+ D2i , D2r = s L1 L2 C +s Kd Ginv L2 C +s(L1 +L2 − 3ω 2

2 3 2
L1 L2 C) + Ginv Gi − Kd Ginv ω 2 L2 C, D2i = 3ωL1 L2 Cs2 +
2Kd Ginv ωL2 Cs + ωL1 + ωL2 − ω 3 L1 L2 C. It is seen that the
resonance issue of the self-axis closed-loop transfer function
(i2,d /i∗2,d or i2,q /i∗2,q ) in (5) is solved. Note B2 = 0 when
Kd = 2ξωn L1 /Ginv is substituted into (5), which indicates
the d–q axes cross-coupling still exists. Although this active
damping can suppress resonance peak, but its damping effect
in this situation is different from that in single-phase inverter
because of the existence of d–q axes cross coupling.
When the decoupling and active damping control are com-
bined together as shown in Fig. 3 (i.e., marked by red and blue
line), the closed-loop transfer function matrix of the control with
the conventional decoupling and active damping (called control
3 ) is derived by
  A 3 B3   ∗  network control cells parameters properly. Then, the coupling
i2,d − D3 i2,d
= D 3
(6)
i2,q B3 A 3
i∗2,q
D3 D3
where A3 = Ginv Gi D3r , B3 = −Ginv Gi D3i , D3 = D3r 2
+D3i2
, high stability and good dynamic response by selecting suitable
D3i = s 3ωL1 L2 C +s2Kd Ginv ωL2 C − ω L1 L2 C + Ginv K
2 3
+ ωL1 + ωL2 , D3r = D2r . When K = ω(L1 + L2 )/Ginv and
Kd = 2ξωn L1 /Ginv are both substituted into (6), it is found
that B3 = 0 and D3i = s2 3ωL1 L2 C + s2Kd Ginv ωL2 C −
ω 3 L1 L2 C. It illustrates that the conventional combined control
does not fully achieve decoupling, and its damping effect is
also different from that of the single-phase inverter circuit.
III. MULTICELL NETWORK CONTROL
For the conventional decoupling control, only d→q axis and
q→d axis decoupling path are adopted when the number of
the measured variables is small, the decoupling is incomplete.
For the conventional active damping control, its damping
effect is not the same as that of single-phase circuit because
the coupling exists. For the abovementioned two combined
conventional control, the coupling and resonance issues also
are not addressed well.
Motivated by the basic neural network concept, a novel multi-
cell network control structure is proposed in this article, as shown
in Fig. 4. The idea is to make different control “cells” cooperative
to achieve full decoupling and good damping simultaneously
under the measured variables as few as possible, and to improve
the dynamic and steady-state performances together. In the
proposed control structure, there are five pairs of control cells,
cell 1–cell 5 and cell 1–cell 5, which are composed of Gi , GM 1 ,
GM 2 , KC1 , and KC2 , respectively. Based on the proposed con-
trol structure, its closed-loop complex-vector transfer function
is derived by
i2,dq Ginv (skp + ki )
∗ = (7)
i2,dq Dcr + jDci
where Dcr = s4 L1 L2 C + s3 KC1 Ginv L2 C +s2 (L1 +L2 −2ω
KC2 Ginv L2 C − 3ω 2 L1 L2 C) + s(kp Ginv − KC1 Ginv ω 2 L2
C + GM 1 Ginv ) + ki Ginv and Dci = s3 (3ωL1 L2 C + KC2
Ginv L2 C) + s2 (2KC1 Ginv ωL2 C) + s(ωL1 + ωL2 − ω 3 L1
L2 C − KC2 Ginv ω 2 L2 C + GM 2 Ginv ) are the real part and
imaginary part of the closed-loop characteristic equation.
It is seen that the d-axis and q-axis components can be
fully decoupled if the imaginary part Dci of the closed-loop
characteristic equation in (7) is zero by the designing multicell
issue between d- and q-axis can be solved completely. On the
other hand, the real part Dcr can make the inverter achieve
multicell network control cells parameters. It means that the
resonance issue is addressed. Moreover, this control structure
can not only make the inverter decouple fully in synchronous
reference frame and improve damping performance, but also
give consideration to dynamic and steady-state performances.
IV. MULTIPLE PARAMETER DESIGN METHOD
There are multiple control cells parameters to be designed
in the multicell network control structure. However, multiple
parameter design is difficult, especially for the goal of all control
cells cooperative modulating. To address this issue, a zero-pole
full placement method is proposed in this article. In order to
achieve full decoupling, good damping, and control accuracy
under the measured variables as few as possible, and to avoid
noise amplification caused by second-order differential term,
here select the control cell Gi = kp + ki /s, GM 1 = d0 + sd1 ,
and GM 2 = e0 + se1 (d0 , e0 are proportional factor, d1 , e1 are
derivative factor). Then, the real part and imaginary part of the
closed-loop characteristic equation in (7) is derived by
Dcr = s4 L1 L2 C + L2 CKC1 Ginv s3 + s2 (L1 + L2
− 3ω 2 L1 L2 C − 2ωKC2 L2 CGinv + d1 Ginv )
− s(L2 CKC1 ω 2 Ginv − d0 Ginv − Ginv kp )
+ Ginv ki (8a)

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 2744 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 68, NO. 4, APRIL 2021

Dci = s3 (3ωL1 L2 C + KC2 L2 CGinv ) + (2ωKC1 L2 CGinv

+ e1 Ginv )s2 + [(ωL1 + ωL2 − ω 3 L1 L2 C
− KC2 L2 Cω 2 Ginv ) + e0 Ginv ]s. (8b)

Select the desired closed-loop transfer function as following:

i2,dq A(s + hξc ωc )
=
i∗2,dq L1 L2 C(s2 + 2ξc ωc s + ωc2 )(s + mξc ωc )(s + nξc ωc )
(9) Fig. 5. Parameters design process of the proposed method.

where ξc and ωc are the desired damping ratio and natural angular
frequency of the closed-loop inverter, respectively, m and n are
the ratios of the distance from nondominant poles to imaginary where Tc = Ginv (skp + ki )/Dcr , which is the same as (9). It is
axis and the distance from dominant poles to imaginary axis, h seen that the cross-axis transfer function in (12) is zero, and this
is the ratio of the distance from zero to imaginary axis and the illustrates the proposed control can fully address the coupling
distance from dominant poles to imaginary axis, A is the middle issue in synchronous reference frame. Moreover, Tc shows the
variable. Comparing (7), (8a) and (8b) to (9), the following inverter can achieve excellent dynamic and steady-state perfor-
equations can be obtained by: mances due to the expected zero and poles.
⎧
⎪ L CKC1 Ginv = L1 L2 C[(m + n)ξc ωc + 2ξc ωc ]
⎪ 2
⎪ V. CHARACTERISTICS OF THE PROPOSED CONTROL
⎪
⎪ L1 + L2 − 3ω 2 L1 L2 C − 2ωKC2 L2 CGinv + d1 Ginv
⎪
⎪ The conventional decoupling control (control 
⎪
⎪ = L1 L2 C[(mn + 2m + 2n)ξc2 ωc2 + ωc2 ]
1 ) has only
⎪
⎪
⎪
⎪
d→q and q→d cross-decoupling paths and the inverter is not
⎪
⎪ d0 Ginv + Ginv kp − L2 CKC1 ω 2 Ginv = L1 L2 C[2mnξc3 ωc3 decoupled fully. The conventional active damping (control 
⎪
⎪
2 )
⎪
⎪ +(m + n)ξc ωc3 ]
⎪
⎪
has only self-axis damping paths, it is not easy to take care
⎨G k = L L Cmnξ 2 ω 4 of both self-axis and cross-axis damping effect of the inverter.
inv i 1 2 c c
.
⎪
⎪ G k = A However, the proposed control has not only cross axis but also
⎪
⎪
inv p
⎪
⎪ Ginv ki = Ahξc ωc self-axis decoupling paths, and this control includes both self-
⎪
⎪
⎪
⎪ 3ωL
axis and cross-axis active damping paths at the same time. So
⎪
⎪ 1 L2 C + KC2 L2 CGinv = 0
⎪
⎪
the performances of decoupling, damping, dynamic, and steady-
⎪2ωKC1 L2 CGinv + e1 Ginv = 0
⎪
⎪
⎪
state response can be regulated collaboratively for the proposed
⎪
⎪ (ωL1 + ωL2 − ω 3 L1 L2 C − KC2 L2 Cω 2 Ginv ) + e0 Ginv
⎪
⎩
control.
=0 The structure of the proposed control seems more complex
(10) than that of control  3 from Figs. 3 and 4. In fact, both self-
axis and cross-axis control cells are utilized together in the
By solving the nine linear equations in (10), all control pa- proposed control to achieve unified adjustment, and self-axis
rameters of control cells are derived by and cross-axis control cells are symmetrical structure, and these
⎧ control cells all adopt simple P, PI, or PD control algorithms. It
⎪
⎪ kp = L1 L2 Cmnξc ωc3 /(Ginv h)
⎪
⎪ is easily implemented in practice. However, the conventional
⎪
⎪ k = L1 L2 Cmnξc2 ωc4 /Ginv control 
⎪i
⎪ 3 with approximate decoupling cannot achieve full
⎪
⎪ KC1 = L1 ξc ωc (2 + m + n)/Ginv
⎪
⎪ decoupling [14], and it will affect damping effect. In addition,
⎪
⎪ KC2 = −3ωL1 /Ginv
⎪
⎪ the conventional combined control [12], which is an improved
⎪
⎪ method by using full decoupling based on control 
⎪
⎨d0 = L1 L2 C[ω ξc ωc (2 + m + n)+ξc ωc (m + n + 2mnξc )
2 3 2 3 , contains
−mnξc ωc /h]/Ginv
3
. complex structure, second-order differential term in algorithms
⎪
⎪ (i.e., may magnify high-frequency noise), and large number of
⎪
⎪ d1 = −L1 L2 C[ωr + 3ω − ωc − ξc ωc (2m + 2n + mn)]/
2 2 2 2 2
⎪
⎪ measured variables [12]. Comparing with the existing controls
⎪
⎪ G
⎪
⎪ inv combining full decoupling and active damping together, the
⎪
⎪
⎪e0 = −ωL1 L2 C[ωr2 + 2ω 2 ]/Ginv
⎪ complex degree of the proposed control is not increased.
⎪
⎪
⎪e1 = −2ωL1 L2 Cξc ωc (2 + m + n)/Ginv
⎪ The proposed zero-pole full placement design method directly
⎪
⎩
A = L1 L2 Cmnξc ωc3 /h gives the theoretical design expressions of all control parameters.
(11) The design method is more precise and concise than conven-
tional parameters design or trial-and-error methods. As shown
Under the designed values of these parameters, the closed- in Fig. 5, all parameters of control cells are obtained directly by
loop transfer function matrix becomes one step, so the design process is also simpler and does not need
  ∗  to repeat one or more times. In summary, the design method,
i2,d Tc 0 i2,d
= (12) design process, and implementation of the proposed control are
i2,q 0 Tc i∗2,q simple, and its computational burden is small.

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 PENG et al.: MULTICELL NETWORK CONTROL AND DESIGN FOR THREE-PHASE GRID-CONNECTED INVERTER 2745

Fig. 6. Decoupling, damping, and tracking ability comparisons. (a) i2,q /i∗2,d Bode diagrams with the proposed control and control  1, 
3.
(b) i2,q /i∗2,d Bode diagrams with the proposed control under parameters shift. (c) Equivalent open-loop Bode diagrams of i2,d /i∗2,d with the proposed
control and control  2,3 (—: normal parameters, ----: parameters shift). (d) i2,q /i∗2,d pole-zero map of control 
2 . (e) i2,q /i∗2,d pole-zero map of
control  3 . (f) Step responses of i2,q /i∗2,d with the proposed control, control 
2 and 3.

TABLE II based on control parameters in Table II, several controls are

CONTROLLER PARAMETERS
evaluated easily by (4), (5), (6), and (12).

A. Decoupling Capacity Comparison

For comparison, take a 18.7 kW three-phase grid-connected
inverter for an example, when the main circuit parameters are
listed in Table I and the desired performances of the proposed
control for (9) are selected as following. The natural angular
frequency ωc is 0.7 times of ωr , the damping ratio ξc is 0.707.
According to state-space theory [26], select m = n = 5 and
h = 10. Then, the control parameters of the proposed control are
designed by (11), listed in Table II. As for control 
3 , ξ = 0.707,
ωn = ωr , and PI controller parameters are designed by [14],
[24], [27], also listed in Table II. The control parameters of
control  1 and  2 are selected like control  3 . Accordingly,
The i2,q /i∗2,d closed-loop Bode diagrams of different controls
are depicted in Fig. 6(a). Under normal main circuit parameters,
the magnitude curve of i2,q /i∗2,d with the proposed control is
negative infinity in Fig. 6(a). The maximum magnitude values
of i2,q /i∗2,d with control 1 and 3 are −14.6 dB and −19.5 dB,
respectively. It shows that the proposed control can achieve full
decoupling but control  1 and 3 cannot.
When main circuit parameters shift as shown in Fig. 6(b),
i2,q /i∗2,d magnitude curve of the proposed control has the largest
value of −37.9 dB (i.e., the worst case: 0.8L1 , 1.2L2 , 1.2C). It
is seen that the proposed control has better decoupling capacity
than conventional controls, even if main circuit parameters shift.
B. Damping and Tracking Performance Comparison
The equivalent open-loop Bode diagrams of i2,d /i∗2,d with the
proposed control, control  2 and  3 are depicted in Fig. 6(c).
The equivalent open-loop transfer function of i2,d /i∗2,d with the
proposed control is the minimum phase system, but that with
control 2 and  3 are both nonminimum phase system. When
the cut-off frequencies are selected the same (i.e., 764 Hz) for fair

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 2746
comparison, the phase margin with the proposed control is 63.8°
while those with control  2 and  3 are both 53.2°. The three
control methods can improve damping; however, the proposed
control can obtain the larger phase margin (corresponding to
better damping) than control  2 and  3 under the same band-
width. Considering various influence such as temperature, aging,
grid impedance variation, and so on, L1 , L2 , and C will vary.
From the perspective of general analysis, the case where the
parameter shift in the range of ±50% has the greatest influence
on the inverter, i.e., 0.5L1 , 1.5L2 , and 1.5C, is selected. Under
this parameter shift case, the phase margin with control  2 and
3 are decreased by 24.8° while that with the proposed control
is only reduced by 8.8° in Fig. 6(c). This is because the inverters
using control  2 or  3 are the nonminimum phase system, while
the inverter using the proposed control is the minimum phase
system. So the proposed control has stronger robustness than
control  2 and  3 .
As for the cross-axis damping performance, the transfer func-
tion i2,q /i∗2,d with the proposed control is equal to zero, and
the pole-zero maps and step responses of i2,q /i∗2,d with control
2 and  3 are shown in Fig. 6(d)–(f). The step response of
i2,q /i∗2,d with control 2 and  3 have both big overshoot due to
the influence of zeros z2 /z3 . It is seen that the cross-axis damping
performance with control  2 and  3 is not improved well, while
the proposed control has no problem. Thus, the damping ability
of control  2 and  3 are both limited and the proposed control
has better damping effect.
It is known from abovementioned paragraph that the proposed
control can make the grid-tied inverter achieve completely in-
dependent control of active and reactive power, fundamental
current tracking without steady-state error. The control pa-
rameters designed by the proposed zero-pole full placement
method ensure that the inverter has fast dynamic response,
small overshoot, and strong robustness. Moreover, the proposed
multiple parameter design method directly gives the theoretical
expressions of all control parameters, and it is convenient for
researchers and engineers to design controller.
VI. SIMULATION AND EXPERIMENT
A. Simulation
The responses of several controls under different conditions
are tested in MATLAB/Simulink platform. The inverter main
circuit parameters and control parameters are listed in Tables I
and II, respectively.
1) Response When d-Axis Reference Changes: Fig. 7(a)
and (c) gives the simulation results of the proposed control and
control  3 when the active current reference i∗2,d changes as
0 A→40 A→0 A and the reactive current reference i∗2,q is 0 A.
Fig. 7(a) shows that i2,d under the proposed control reaches the
reference value quickly with settling time of 1.0 ms, overshoot of
3% and steady-state error of near 0, and i2,q is almost unaffected
when i∗2,d steps up or down. It is observed in Fig. 7(c) that i2,d
under control  3 has the overshoot of 13.8% and the settling
time of 3.0 ms. Meanwhile, i2,q under control  3 is obviously
affected by i∗2,d , and has considerable overshoot (4 A). So it
is seen that i2,abc under the proposed control has no overshoot
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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 68, NO. 4, APRIL 2021
but i2,abc under control  3 has the overshoot of 15.5%. The
overshoot and settling time of control  3 are bigger than that
of the proposed control. It illustrates that the decoupling ability
and tracking performances of the proposed control are better
than that of control  3 .
2) Response When q-Axis Reference Changes: The re-
sponse waveforms when the reactive current reference i∗2,q steps
from 0 to 20 A then to 0 A and the active current reference i∗2,d
is 20 A are shown in Fig. 7(d) and (f). As shown in Fig. 7(d),
i2,q under the proposed control tracks the command current
smoothly with settling time of 0.5 ms, overshoot of 2%, and
i2,d remains largely unchanged when i∗2,q changes. For control
3 , i2q has the overshoot of 19% and its settling time is 2.5 ms, as
shown in Fig. 7(f). Due to coupling, i2,d has also the overshoot of
15% when i∗2,q steps up or down, and both i2q and i2,d includes
considerable ripple. i2,abc under control  3 has the overshoot
of 27.8% (2.3 A/8.28 A) and their waveforms are worse than
those of i2,abc under the proposed control. It also illustrates that
the performances of the proposed control are superior to that of
control  3 .
3) Main Circuit Parameters Shifting: Considering the
worst shifting condition of the abovementioned, the main circuit
parameters are set to: 0.8L1 , 1.2L2 , and 1.2C. For the proposed
control, the response waveforms of i2,d , i2,q , and i2,abc under
the parameters shifting in Fig. 7(b) are almost the same as those
under the normal parameters in Fig. 7(a) when i∗2,d changes.
When i∗2,q varies, the response waveforms under the parameters
shifting in Fig. 7(e) are also the same as those under the normal
parameters in Fig. 7(d). It is obvious that the proposed control
has strong robustness.
4) Considering Weak Grid Condition: If weak grid is con-
sidered, grid inductance Lg−x is calculated in terms of SCR = x
[28]. L2  = L2 + Lg−x is used to replace L2 , then design all con-
trol cells parameters by (11). Thus, the designed control parame-
ters can make the inverter be suitable for weak grid. For example,
Lg−5 = 4.9457 mH when SCR = 5, control parameters under
weak grid condition are calculated as follows: kp = 0.0734,
ki = 2800, KC1 = 0.1132, KC2 = −0.00233, d0 = 0.9560, d1
= 0.0001653, e0 = −0.004959, and e1 = −0.00000762. For
the weak grid from SCR = 1–5, the open loop Bode diagram of
the inverter with the proposed control illustrates that the PM is
22.8° (i.e., the inverter is stable) even if SCR = 1. The simulation
under SCR = 5 and SCR = 3 are shown in Fig. 8(a) and (b),
respectively. Both the cases are stable. It means that the proposed
control and control parameters design method can adapt to weak
grid very well.
B. Experiment
The experimental inverter prototype parameters are listed in
Tables I and II. The control is implemented in TMS320F28335
and AD sampling chip is MAX1324. All test results are recorded
by Yokogawa ScopeCorder DL750. There are different solutions
to decrease control delay [5], [29]. A shifting sampling instant
method has been adopted to decrease delay in this article.
Test 1: i∗2,d changes. Fig. 9(a) and (b) shows the response
waveforms of the proposed control under normal and shifted
 PENG et al.: MULTICELL NETWORK CONTROL AND DESIGN FOR THREE-PHASE GRID-CONNECTED INVERTER 2747

Fig. 7. Simulation waveforms when i∗2,d changes for (a) the proposed control and (b) under its parameters shift, (c) control 
3 ; when i∗2,q changes
for (d) the proposed control and (e) under its parameters shift, (f) control 
3.

under the proposed control have no overshoot when i∗2,d varies

Fig. 8. Simulation results of the proposed control under weak grid.
(a) SCR = 5. (b) SCR = 3.
parameters (0.8L1 , 1.16L2 , 1.25C), which contain the grid volt-
age u2,abc , grid-side current i2,abc and their d–q axes component
i2,d , i2,q from top to bottom. In Fig. 9(a), i2,abc and i2,d , i2,q
as 0 A→17 A→0 A and i∗2,q = 0 A. The response time of the
proposed control is 3 ms. In Fig. 9(b), the response time (i.e.,
3.1 ms) of the proposed control under shifted parameters is
slightly larger than that of Fig. 9(a) and there is also no overshoot.
For control  3 , as depicted in Fig. 9(c), i2,abc and i2,d have
overshoot of 2.9 A (17%) and 1.6 A (9.4%), respectively. When
i∗2,d changes, i2,q also produces overshoot due to coupling. Its
overshoot is obvious bigger than that of i2,d , and is consistent
with the analysis in Fig. 6(e) and (f). The settling time of control
 3 is about 4.5 ms, longer than that of the proposed control.
Test 2: i∗2,q changes. Fig. 9(d) and (e) shows the exper-
imental results of the proposed control under normal and
shifted parameters (0.8L1 , 1.16L2 , 1.25C). When i∗2,q steps from
0 A→13 A→0 A and i∗2,d = 8 A in Fig. 9(d), i2,abc , i2,d , and i2,q
under the proposed control have no overshoot. And i2,d is rarely
found to be affected by i∗2,q . The response time of the proposed
control is 3.1 ms. In Fig. 9(e), the response time (i.e., 3.3 ms) of

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 2748 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 68, NO. 4, APRIL 2021

Fig. 9. Experimental waveforms when i∗2,d changes for (a) the proposed control, (b) the proposed control under parameter shift and (c) control
3 ; when i∗2,q changes for (d) the proposed control, (e) the proposed control under parameter shift and (f) control 
 3.

the proposed control under shifted parameters is slightly larger
than that of Fig. 9(d) and there is also no overshoot. For control
 3 , as shown in Fig. 9(f), the overshoots of i2,abc and i2,q are
1.0 A (14.3%) and 1.3 A (10.4%), respectively. The overshoot of
i2,d , which is obvious bigger than that of i2,q means the coupling
influence, and is consistent with the analysis in Fig. 6(e) and (f).
The waveforms of i2,abc under control  3 are worse than those
under the proposed control. The settling time of control  3 when
i∗2,q changes is 4.5 ms, longer than that of the proposed control.
The abovementioned results indicate that the decoupling abil-
ity and tracking performances of the proposed control are better
than those of control  3 due to the proposed control structure
and parameters design method.
VII. CONCLUSION
A novel multicell network control structure and a multiple
parameter design method were proposed in this article. The
proposed control can make the grid-connected inverter with the
LCL filter to realize full independent control of active and re-
active power, and good dynamic and steady-state performances
without resonance issue. The multiple parameter design method
called zero-pole full placement directly give the theoretical
design expressions of all control parameters. The design process
was precise and very simple, and does not need to repeat one
or more times. It also avoids the interaction issue of decoupling
and damping in conventional combined control with decoupling
and active damping, because their control parameters were de-
signed separately in conventional combined control. It was very
convenient for researchers or engineers. The proposed control
and parameters design method can adapt to weak grid well.
Moreover, the inverter with the proposed control was a minimum
phase system, and the inverter had smaller overshoot and settling
time than that with the conventional control, which is a non-
minimum phase system. The proposed complex-vector transfer
function-matrix analysis method can quantitatively analyze the
influence of coupling in theory and bring convenience to the
design. The proposed control, parameters design, and analysis
methods were also suitable to other converters.
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Li Peng (Member, IEEE) received the B.S.,
M.S., and Ph.D. degrees in power electronics
from the Huazhong University of Science and
Technology (HUST), Wuhan, China, in 1989,
1992, and 2004, respectively.
In 1992, she joined the HUST, where she is
currently a Full Professor of Power Electronics
with the School of Electrical and Electronic En-
gineering. Her research interests include power
electronic conversion, its control and applica-
tions, modular power supply and parallel control
technique, renewable energy generation, power quality control, and
Modular Multilevel Converters (MMC) for High Voltage direct current
(HVdc) applications.
Weibiao Wu was born in Jiangxi, China, in
1988. He received the B.S. degree in measure-
ment and control technology and instrument
from the East China University of Technology,
Fuzhou, China, in 2010, and the M.S. degree
in control science and engineering from Cen-
tral South University, Changsha, China, in 2013.
He is currently working toward the Ph.D. de-
gree in electrical engineering with the Huazhong
University of Science and Technology, Wuhan,
China.
His research interests include control and analysis of grid-connected
power converter for photovoltaic generation systems and active power
filter application.
Ke Hu was born in Hunan, China, in 1995. He
received the B.S. degree in electrical engineer-
ing in 2017 from the Huazhong University of
Science and Technology, Wuhan, China, where
he is currently working toward the Ph.D. degree
in electrical engineering.
His major research interests include control
and analysis of active power filter.