IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 57, NO.
8, AUGUST 2010
Medium-Voltage Multilevel Converters—State of the
Art, Challenges, and Requirements in
Industrial Applications
Haitham Abu-Rub, Senior Member, IEEE, Joachim Holtz, Fellow, IEEE,
Jose Rodriguez, Senior Member, IEEE, and Ge Baoming
Abstract—This paper gives an overview of medium-voltage
(MV) multilevel converters with a focus on achieving minimum
harmonic distortion and high efficiency at low switching frequency
operation. Increasing the power rating by minimizing switching
frequency while still maintaining reasonable power quality is an
important requirement and a persistent challenge for the indus-
try. Existing solutions are discussed and analyzed based on their
topologies, limitations, and control techniques. As a preferred op-
tion for future research and application, an inverter configuration
based on three-level building blocks to generate five-level voltage
waveforms is suggested. This paper shows that such an inverter
may be operated at a very low switching frequency to achieve
minimum ON-state and dynamic device losses for highly efficient
MV drive applications while maintaining low harmonic distortion.
Index Terms—Dual multilevel inverter (MLI), low switching
frequency, medium-voltage drives, multilevel inverters, neutral-
point-clamped inverter, synchronous optimal PWM.
I. I NTRODUCTION
T HE ever-rising demand for electrical energy and depleting
fossil fuel reserves are compelling reasons to use existing
resources more efficiently. New highly efficient power elec-
tronic technologies and proper control strategies are therefore
needed to reduce energy waste and to improve power quality.
There is a great potential for improving energy efficiency in
electric motor driven systems.
Medium-voltage (MV) drives have found widespread appli-
cations in various industries, such as in the oil and gas sectors,
production plants, and process industries. Only 3% of the
currently installed MV motors are controlled by variable-speed
drives [1]. Thus, there is a tremendous scope for introducing
efficient adjustable speed drives in industrial applications. The
installation of properly controlled MV variable-speed drives
reduces energy losses and total drive cost, and it improves
Manuscript received March 10, 2009; revised December 6, 2009; accepted
December 19, 2009. Date of publication April 12, 2010; date of current version
July 14, 2010.
H. Abu-Rub is with Texas A&M University at Qatar, Doha 23874, Qatar
(e-mail: haitham.abu-rub@qatar.tamu.edu).
J. Holtz is with the Electrical Machines and Drives Laboratory, University of
Wuppertal, 42097 Wuppertal, Germany (e-mail: j.holtz@ieee.org).
J. Rodriguez is with the Universidad Técnica Federico Santa María,
Valparaíso 110, Chile (e-mail: jrp@usm.cl).
G. Baoming is with the School of Electrical Engineering, Beijing Jiaotong
University, Beijing 100044, China (e-mail: gebaoming@tsinghua.org.cn).
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.2010.2043039
0278-0046/$26.00 © 2010 IEEE
2581
power quality [1]. The design of controlled MV drives is faced
with a number of challenges that relate to the topologies and
control of line- and motor-side converters, as well as power
semiconductor switching devices [1].
High quality of voltage and current waveforms both at the
input and output terminals is important, particularly with MV
drives. The waveforms are affected by the following factors:
1) the topology used; 2) the application; 3) the control algo-
rithm; 4) the size of the filter; and 5) the choice of switching
frequency [1]–[3]. As the switching losses of MV semiconduc-
tor devices make up a major portion of the device losses, their
reduction allows the maximum output power to be increased.
On the other hand, a reduction in switching frequency in-
creases the harmonic distortion of the line and motor side
waveforms. This gray area needs careful consideration for
efficient drives systems. Inverters with multilevel (ML) output
voltages have the ability to deliver waveforms with a better
harmonic spectrum and limit the motor-winding insulation
stress. However, the increasing number of switching devices
tends to reduce the overall reliability and efficiency of the power
converter. On the other hand, an inverter with a low number
of output levels would need a large and expensive LC output
filter to reduce the motor-winding insulation stress [6]–[10].
Thus, the challenge is to reduce waveform distortions when a
low switching frequency is used, to ensure high power quality,
and to allow fast dynamic responses at very low switching fre-
quencies. Such goals may be achieved by constructing the five-
level structure from three-level (3L) inverter building blocks
and using an optimal control approach, as illustrated in the later
part of this paper.
ML converters (MLCs) were invented with the specific aim
of overcoming the voltage limit capability of semiconductor
devices [11]–[22]. These converters offer numerous advantages
compared with the two-level (2L) converter counterpart [1],
[19], [20], [23], [24]. The features include good power quality,
low switching losses, high voltage capability, and low dV /dt
[25]–[28]. These properties and the advancement in semi-
conductor technology make MLCs attractive for high-power
applications [1], [3], [5], [6], [10], [19], [20], [23], [24], [26],
[29]–[61]. The following three topologies have emerged
as standard products for industrial MV drives: 1) the 3L
neutral-point-clamped voltage source converter (3L-NPC VSC)
[4]–[6], [20], [23], [24], [40], [43], [52], [62]–[67]; 2) the
four-level flying capacitor voltage source converter (4L-FLC
2582 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 57, NO. 8, AUGUST 2010
VSC) [5], [6], [23], [24], [66]; and 3) the series-connected
H-bridge voltage source converter (SCHB VSC) [19], [30],
[33], [34], [42], [59], [67]. A hybrid asymmetric MLC can be
operated at a low or a high switching frequency for high- or
low-voltage applications [19]. However, the need for a complex
input transformer remains, and the control system would be too
complex due to its structure [5], [10], [68].
It is evident from the literature review that the ML concept
will be a prominent choice for MV power electronic systems
in the future [19]. The 3L-NPC converter has the highest
converter efficiency among the available solutions [6], [69]
and is the preferred choice in many industrial MV applications
[4], [24], [65].
An important issue with the NPC is the voltage unbalance
of the dc-link capacitors. This occurs when one of the phases
is connected to the neutral point [70]–[74]. Voltage balancing
should be controlled by the converter itself [23], [25]–[27],
[65], [71], [75]–[81]. The unbalancing is addressed and miti-
gated in [65] for steady-state and dynamics conditions without
penalizing the switching frequency.
Recently, much effort has been made to improve the per-
formance of MLCs by the following methods: 1) harmonic
elimination using recalculated switching functions [23], [82]–
[84] and harmonic mitigation to fulfill specific grid guidelines
[82], [83], [85]; 2) development of new MLC topologies [86];
and 3) new control strategies [2], [19], [23], [87], [89]–[92].
Since the inception of m-level pulsewidth modulated (PWM)
voltage source converters (VSCs), various modulation strate-
gies have been developed and discussed [2], [3], [19], [20], [23],
[29], [42], [50], [65], [93]–[108]. Low switching frequency
methods are preferred as they reduce the switching losses.
The ML selective harmonic elimination (SHE) and the space-
vector modulation (SVM) methods may operate at low switch-
ing frequencies [43], [101], [104], [106], [110]–[112]. Other
techniques like direct torque control, hysteresis current control,
predictive current control, and even intensive computational
techniques like artificial intelligence-based methods are utilized
and reported in the literature [19], [25], [82], [113]–[122]. For
ML inverter (MLI) topologies used in MV applications, the
modulation strategies take into account the requirements of the
low switching frequencies of inverters and the need for neutral-
point potential control [23], [123]–[127]. It is worthwhile to
consider optimum modulation techniques that permit a reduc-
tion in the switching frequency without impairing the distortion
[2], [128], [129]. Synchronous optimum pulsewidth modulation
is used for the control of the MLI to achieve this goal.
On the other hand, recent advances have improved the state
of technology in power semiconductor devices. The preferred
power switches for industrial applications are insulated gate
bipolar transistors (IGBTs), integrated gate commutated thyris-
tors (IGCTs), and gate turn-off thyristors (GTOs).
The maximum voltage blocking capability of modern power
semiconductor devices is around 6.5 kV [113], [130]. This
dictates the practical limit for the operating voltage of the in-
verter and the drive motor in high-power variable-speed drives.
With regard to the 2L voltage source inverter topology and the
maximum ON-state current (600 A) of currently available MV
IGBT devices [B3], the maximum apparent power obtainable is
less than 1 MV · A. IGCT devices can handle higher currents,
but only at lower blocking voltages [130].
To overcome the limits of semiconductor voltage and current
ratings, series and/or parallel connections of devices are being
used [115]–[119], [131]. Additional measures are then required
to balance the voltage sharing at the series connection and the
current sharing at the parallel connection. These circuits result
in additional losses and also require a power derating. The
solution discussed in this paper refers to a dual 3L inverter
topology. It doubles the power limit and avoids the problems as-
sociated with parallel or series connected devices. The resulting
output voltage inherently exhibits a low harmonic content. The
harmonics can be further reduced by applying adequate control
strategies.
Accordingly, the objectives of this paper are listed as
follows.
1) To review MLCs for MV high-power applications with a
focus on low switching frequency.
2) To discuss a solution for an 8-kV transformerless drive
system using ML technology. Eliminating the transformer
will reduce cost, space, weight, and associated losses.
3) To suggest a high-efficiency low-harmonic-drive topol-
ogy. This may be achieved by a) a low load current level
resulting from increased voltage (this is common for all
MLIs) and b) the low harmonic content of a five-level
output voltage waveform generated by optimal PWM
techniques. This allows the system to be operated at a
switching frequency as low as 100 Hz.
Thus, this paper presents a comprehensive survey of the
existing power electronic converter solutions for MV drive
applications and also suggests the future direction of research.
II. MLCs
A. Preliminary Remarks
The output power of the inverter can be increased by using
series–parallel connected power switching devices. However,
additional measures are then required to balance the current/
voltage sharing between the devices. It is to be noted that the
voltage is preferably increased at the motor terminals rather
than the current. This results in higher drive efficiency due
to reduced current. A higher voltage is achieved by series
connection of the power devices [2], [132]. Nevertheless, bal-
anced voltage distribution across the devices, particularly under
dynamic conditions, must be ensured by providing snubber
circuits [131]. These lead to additional losses and subsequent
power derating. A simple way to establish a series connection of
power devices without derating is with the 3L inverter topology
[2], [21], [22].
MLCs offer significant advantages compared with the 2L
converters [1], [19], such as better harmonic performance
and higher power capabilities. These distinct advantages make
MLCs very attractive to industries for different applications
[31]–[36]. Nowadays, researchers are striving to improve MLC
performances by using the following techniques [6], [23], [69]:
1) control simplification [87], [88] and optimization algorithms
to enhance the total harmonic distortion (THD) performance
ABU-RUB et al.: MEDIUM-VOLTAGE MULTILEVEL CONVERTERS
Fig. 1. Tree diagram of different classifications of MLIs.
[82], [83]; 2) balancing of the dc capacitor voltage [133], [134];
3) reduction of current ripple [135]; 4) harmonic elimination
using precalculated switching functions [23], [84]; 5) harmonic
mitigation to fulfill specific grid codes [85]; 6) development of
new MLC topologies [86]; and 7) new control strategies [2],
[23], [89].
The first-ever publication on a 3L inverter was [136], while
the first-ever patent on 3L inverters and MLIs was [137]. The
MLCs were invented with the specific aim of overcoming the
voltage limit problem of semiconductor devices. The concept
of utilizing multiple small voltage levels to perform power
conversion was presented over 30 years ago [21], [22]. The
differences among MLC structures stem from variation in
clamping techniques.
The original idea of MLCs was to connect more devices in
series and clamp the voltages between the respective devices.
One of early patents appeared in 1975 [11], in which the
cascaded inverter was first defined with a structure that connects
separately dc-source full-bridge cells in series to synthesize
a staircase ac output voltage [20]. With diodes blocking the
sources, the diode-clamped MLI was then patented [12], [13].
This inverter was also called the NPC inverter because it was
first used in a 3L inverter where the midvoltage level was
defined as the neutral point [20]. Because the NPC inverter
effectively doubles the device voltage without precise voltage
matching, the topology prevailed in the 1980s [20].
Although the cascade inverter was invented earlier, it had
few applications until the mid-1990s. Due to the great demand
for MV high-power inverters, the cascade inverter has drawn
tremendous attention ever since [20], [58].
2583
Several patented works were suggested for the use of cascade
MLC in the regenerative type of motor drive applications [14]–
[18]. However, most of the application in this area has occurred
over the last few years. Despite the significant innovations in
this area, there is still much more that can be done [19].
Due to the fact that the ML output voltage exhibits lower
harmonic distortion in comparison with the 2L voltage, typical
problems like stator winding insulation breakdown, bearing
failures, and electromagnetic interference (EMI) associated
with the high switching frequency can be significantly reduced
when using MLCs [19], [41]. In the 3L inverters, the semicon-
ductors have voltage ratings of only Udc/2 and an increased
voltage power ratio [19], [25]–[28].
MLCs have been investigated extensively, particularly for
MV high-power applications [3], [5], [6], [10], [19], [24],
[30], [39]–[45]. They have been investigated for other appli-
cations such as utility interface for renewable energy systems
[63], [138]–[141], high-voltage dc transmission [45], flexible
ac transmission system [46], electric traction systems, active
power filtering [10], [45], unified power flow controllers, super-
conducting magnetic energy storage [25], and static synchro-
nous compensators [26], [48]–[51]. Recently, the use of ML
configurations has become more prevalent in the active rectifier
field [19], [29], [121].
B. Converter Topologies
Among MLCs [5], the following three topologies have been
successfully implemented as standard products for MV indus-
trial drives (Fig. 1): 1) the 3L-NPC VSC; 2) the 4L-FLC VSC;
2584
Fig. 2. Three-level inverter. (a) Circuit diagram. (b) Symbolic representation.
TABLE I
M ARKET OVERVIEW OF I NDUSTRIAL MV D RIVES
and 3) the SCHB VSC [30], [42], [66]. These configurations are
further elaborated in the following sections.
1) NPC VSC: For NPC inverter topology [22], [62] the
midpoint potential of a capacitive voltage divider in the dc link
is used to stabilize the voltage distribution between devices with
the help of clamping diodes, e.g., D1 and D2 in Fig. 2. The
topology adds the zero level to the output voltage waveform
and, thus, also serves to reduce its harmonic content. The 3L
inverter topology permits operation at double voltage, which
also doubles the maximum output power. Furthermore, the
capacitors can be precharged as a group [5], [20], [24], [43].
The concept can be extended to any number of levels by
increasing the number of capacitors and diodes. However, due
to capacitor voltage balancing issues, the NPC inverter imple-
mentation has been mostly limited to the 3L inverter [65], [142].
This type of inverter is widely used in MV applications
and is one of the most commonly applied topologies [4], [5],
[24], [65] (see Table I). It characterizes a relatively small dc-
link capacitor, a simple power circuit topology, a low com-
ponent count, and straightforward protection and modulation
schemes [38]. Therefore, the 3L-NPC VSC is a competitive
topology for a large variety of low and medium switching
frequency applications. Additionally, the 3L-NPC VSC has the
highest converter efficiency among the available solutions for
industry [6].
The NPC has found an important market in more conven-
tional high-power ac motor drive applications like conveyors,
pumps, fans, and mills, among others, which offer solutions
for industries including the oil and gas, metal, power, mining,
water, marine, and chemical industries [23], [38], [144].
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 57, NO. 8, AUGUST 2010
Because all of the phases share a common dc bus, the ca-
pacitance requirements of the converter are minimized. For this
reason, a back-to-back topology is possible. This configuration
for regenerative applications has also been a major benefit,
for example, in regenerative conveyors for the mining industry
[145] or grid interfacing of renewable energy sources like wind
power [63], [64].
Although this topology has a simple circuit, usually, it needs
a large inductive capacitive output filter to operate standard
motors [5].
2) Capacitor-Clamped Inverter (Flying Capacitor): An-
other popular voltage source MLI uses the flying capacitor
topology [143]. This topology offers the advantages of MLCs.
However, the needs to balance the capacitors’ voltages and
precharge the capacitors at the start time, in addition to a larger
number of capacitors, are the disadvantages of this topology.
The high capacitance values and stored energies of the flying
capacitors limit the use of 3L- and 4L-FLC to high switching
frequency applications. Table II highlights some typical char-
acteristics of this type of converter [69].
In the FLC, the load current charges every capacitor; hence,
the respective capacitor voltages change. The resulting changes
must be maintained within permissible limits. Thus, the re-
quired capacitance increases approximately in inverse propor-
tion to the switching frequency. This makes the FLC topology
impractical at very low switching frequencies. Therefore, the
stored energy of the flying capacitors and the dimension of the
LC inverter output filter is increased by a factor of about 10
(for 3L-FLC) and 20 (for 4L-FLC) in comparison to 3L-NPC
[69]. The high cost of flying capacitors at low and medium
ABU-RUB et al.: MEDIUM-VOLTAGE MULTILEVEL CONVERTERS
TABLE II
C ARRIER F REQUENCIES AND C ONVERTER E FFICIENCIES OF S ELECTED MLIs [69]
switching frequencies is the reason that the FLC topology is not
competitive in applications that only require low and medium
switching frequencies (≥ 1500–1800 Hz) [69]. Nevertheless,
the symmetrical switches loss distribution and the resulting
high first carrier band frequency of the converter voltage make
this topology attractive for some applications such as high-
speed drives and test benches [6], [23], [24], [69].
In these applications, the 3L-FLC VSC is an interesting
alternative to the 4L-FLC VSC due to the reduced cost of flying
capacitors. At lower frequencies and high converter efficiency,
neither topology is competitive compared to the 3L-NPC VSC
and the 5L-SCHB VSC [5], [6].
3) Series-Connected H-bridge Inverter: The series
H-bridge inverter appeared in mid 1970s [11], and several
recent works were registered [7], [8], [30]. Since this topology
consists of series power conversion cells, the voltage and power
level may easily be scaled [19]. However, a disadvantage is the
large number of required isolated power supplies. However,
the cells can be supplied by phase-shifted transformers (an
expensive solution) in order to provide high power quality at
the utility side [19], [30].
The 5L-SCHB VSC requires the lowest switch power rating
and stored energy of the LC filter. Compared to the 3L-NPC
VSC, the installed switch power and the stored energy are
significantly reduced (even up to 80%) [6], [56]. However,
a complicated grid transformer, increased dc-link capacitance
compared to the 3L-NPC, and the high number of semiconduc-
tor devices are its drawbacks [5]. The absence of a common
dc voltage bus is an additional disadvantage of the 5L-SCHB
VSC [5].
The cascaded H-bridge VSC has been applied for high-power
and power-quality industrial requirements due to its series
expansion capability [23]. This topology has also been used for
active filter and reactive power compensation [20], [24], [54]–
[56], electric vehicles [146], photovoltaic power conversion
[139]–[141], uninterruptible power supplies (UPSs) [147], and
magnetic resonance imaging [23], etc.
A hybrid asymmetric MLC is constructed by combining
the SCHB with the NPC topologies [5]. Such a combination
produces more output voltage levels with the same number of
components as a symmetric MLC [5]. Although an H-bridge
cell and a leg of the NPC converter provide the same output
voltage levels, the hybrid asymmetric ML topology requires a
smaller number of separate dc sources and H-bridge cells for
the same output voltage levels [5], [10].
This topology can be operated with different switching fre-
quencies and for different applications. However, the need for
2585
Fig. 3. Four-level inverter with flying capacitors and voltage dividers.
a complex input transformer remains and its control is compli-
cated, therefore, it is not commercially offered [10], [68]. This
is also true for the 9L-SCHB, although it is a good topology for
manifold MV drives, e.g., high-speed drives [5], [69].
Other interesting and competitive topology is discussed in
[32] and [47]. By combining the basic NPC and half-bridge
principles, a five-level topology was proposed; where each
phase of the inverter consists of two 3L-NPC half-bridges
connected in series. One arm is connected to the output terminal
and the other is connected to the neutral point. The half bridges
are supplied by isolated dc sources, which are often composed
of multipulse diode rectifiers [47]. The topology was named
NPC/H-bridge inverter.
4) Selection of Inverter Type and Level Number: To achieve
higher voltage ratings, the number of series connected devices
can be increased by an extension of the aforementioned prin-
ciple of voltage clamping [22]. Such ML topologies require
multiple capacitive voltage dividers in the dc-link circuit [148].
The steady-state voltages of the individual capacitors tend to
drift away from their balanced values [65], [142]. Other than
with the 3L inverter topology, there are no means to exert
control on the capacitor voltages using redundant switching
states. Hence, NPC ML topologies with more than three voltage
levels are not attractive for industrial applications.
A better approach to MLCs with more than three levels is the
flying capacitor principle because the number of levels does not
influence the balance of capacitor voltages [66], [149]. Fig. 3
shows the example of a four-level inverter. The full dc-link
voltage Ud can be stepwise reduced to lower voltage levels by
one of the capacitors, i.e., C1 or C2 , in series with the respective
motor terminal. An undesired effect is that the motor current
changes the voltage of the respective capacitor.
2586 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 57, NO. 8, AUGUST 2010
Fig. 4. Parallel operation of two 3L inverters.
The capacitance values must be large enough to keep these
changes to a minimum. It is, in fact, the ampere-seconds that
produce the effect, to which the durations of the PWM pulses
contribute. Hence, the size of the capacitors increases as the
switching frequency reduces. The topology is therefore not
suitable when optimal pulsewidth modulation that operates at
a low switching frequency is employed. On the other hand, the
THD improves as the number of levels increases [150].
Considering the THD, a significant difference between the
2L inverter and the MLI can be observed. However, as the
number of levels becomes large, the change in THD is small.
The output filter size has a similar pattern between levels and
THD [19], [150]. The main disadvantage of increasing the
number of levels is the large number of power supplies and
semiconductor devices required and the complicated control
associated with it. In addition, the cost of the converters and
the complexity of the balancing algorithms rise sharply.
It is evident and reasonable that the selection of a 3L inverter
is a compromise in terms of cost, complexity, and power quality.
The existing challenge is to get very low THD with a low
switching frequency and a minimum number of levels. The
suggested dual inverters arrangement with synchronous optimal
modulation and back to back topology, are supposed to ensure
almost sinusoidal input and output current waveforms with a
very low switching frequency and a smaller filter size.
5) Increasing Power Rating—The Suggested Solution: The
technical and economic constraints associated with ML topolo-
gies suggest combining complete three-phase inverters based
on the proven 3L topology. The parallel connection of two 3L
inverters, shown in Fig. 4 [151], again doubles the maximum
output power by doubling the maximum output current. Given
the maximum ratings of available power devices, e.g., 6.5 kV
and 600 A, such topology would deliver 4.16 kV and 480 A
rms at the motor terminals.
To achieve greater efficiency of the drive system, a series
connection of two 3L inverters would be preferred. Such an
arrangement is shown in Fig. 5 [151]. The inverters are fed
from the same dc-link circuit. Their output voltages are added
at the phase windings of the motor. These exhibit very low
impedance for the zero sequence component of the voltage sum.
An inductor having a high zero sequence impedance and low
impedance for the revolving components is therefore added.
The dual 3L inverter topology in Fig. 6 is the preferred solution
for very-high-power MV inverter drives. Their arrangement in a
series connection permits operation at double input voltage and,
thus, enables the direct supply from the 8 kV utility without
a transformer. The approach avoids the drawbacks of a direct
connection, in series or in parallel, of power semiconductor
Fig. 5. Operation in series connection of two 3L inverters.
Fig. 6. Maximum rms current versus switching frequency with the funda-
mental frequency f1 as a parameter; EUPEC 6.5-kV 600-A possible operating
points at carrier modulation and optimal modulation are marked by circles.
devices. The system is characterized by lower voltage harmon-
ics and smaller filter size.
Recently, the double 3L inverter was proposed for high-
power motor drives [115]–[119], [151]. The concept is to feed
the standard induction machine in the “open winding connec-
tion” [118] with two NPC 3L inverters. The idea was applied
in the direct self control. The motor voltage is the sum of
two 3L inverters, which means that the dc voltage in each 3L
inverter reduces to half when compared with the topology of
one single 3L inverter. Therefore, a double-3L-inverter-based
variable frequency drive system needs switches with a lower
voltage rating. With the same number of power switches, it has
no voltage balancing problem.
The suggested dual 3L inverter configuration in Fig. 6 is
classified as a five-level inverter. Its output voltage waveform
inherently exhibits a low harmonic content. The harmonics
can be further reduced by applying synchronous optimum
pulsewidth modulation [151].
III. MLI C ONTROL T ECHNIQUES
A. General Description
Since the inception of ML PWM VSCs [107], [136], various
modulation strategies have been developed [2], [3], [19], [20],
[29], [96]–[104], [152]. In general, low switching frequency
methods are preferred for high-power applications due to the
reduction of switching losses, while the better output power
quality and higher bandwidth of high switching frequency al-
gorithms are more suitable for high dynamic range applications
[23]. Nevertheless, low switching frequency and high dynamic
bandwidth may be achieved in fast dynamic control of MV
drives [153].
A very popular method in industrial applications is the clas-
sic carrier-based sinusoidal PWM that uses the phase-shifting
ABU-RUB et al.: MEDIUM-VOLTAGE MULTILEVEL CONVERTERS
technique to reduce the harmonics in the load voltage [3], [42],
[93], [100], [105], [106]. Other methods with low switching
frequency include the ML SHE and the SVM [43], [101],
[104], [109].
The method of triangular carrier switching control is well
known for the closed-loop control of 2L inverters [155]–[157].
There has been a recent trend to generalize it for MLIs [155]–
[157]. The SVM technique offers the flexibility to select opti-
mal PWM switching patterns [154], and it accomplishes dc side
capacitor voltage balancing [20], [65]. However, as the number
of levels increases, the complexity of calculations grows drasti-
cally; thus, fast calculations have generally been achieved at the
cost of poor accuracy [20]. Recently, this problem has nearly
been solved by adopting new SVM strategies [23].
Other techniques like direct torque control, hysteresis current
control, and predictive control are also used for MLIs [19], [25],
[114], [116]–[122], [157], [158].
Predictive control can be applied successfully to control an
NPC inverter without using linear controllers or PWM modu-
lators [114]. This is a new approach that offers possibilities to
include advanced control strategies.
A behavior of the load current is predicted in the next sam-
pling interval for all voltage vectors generated by the inverter
[157], [158]. The actual current of the load and the capacitor
voltages are measured to perform the prediction. Additionally,
the value of the capacitor voltages can be predicted for different
switching vectors [157], [158].
This control strategy needs more research effort for very
low switching frequency applications while maintaining ac-
ceptable THD.
The other approach is to use mathematical programming
methods, such as gradient-based methods [38] or genetic al-
gorithms [82], [122], to solve a set of nonlinear transcendental
equations with a certain cost function that involves many local
optima. Particle swarm optimization is also used, which is a
population-based, self-adaptive search optimization technique
[115]. These methods suffer from the use of long computational
steps, convergence to local optima, and sensitivity to the scale
of the problem [82], [115], [122].
For MLI topology in MV application, the modulation strate-
gies must take into account the requirements of the low switch-
ing frequencies and the need for neutral-point potential control.
The design of the 3L space-vector pulsewidth modulation
(SVPWM) sequences is a different approach compared to the
2L SVPWM techniques. In the 3L structure, there are redun-
dancies in space vectors. Zero vectors are no more the common
for all the regions of a space vector, while dc bus balancing has
to be maintained [123].
Although the work on 3L SVPWM is very active [23],
[123], most of the research is focused on such issues like
simplifying the algorithm [124], implementation aspects [125],
[126], reducing switching losses [3], neutral-point balancing
[71]–[74], reducing common-mode voltage (CMV) [127], etc.
Voltage Unbalance of NPC VSCs: The NPC topology shows
dc-link voltage unbalance, depending on the modulation in-
dex, dynamic behavior, and load conditions. These produce a
voltage difference between both capacitors, shifting the neutral
point and causing undesirable distortion at the converter output
2587
[23], [65], [70]–[75], [81]. Conditions worsen when the drive is
subjected to intervals of high dynamic operation [23]. Frequent
changes of the modulation index lead to multiple neutral-point
potential errors within a limited time span [23]. Since the
neutral-point potential error decays only slowly by virtue of the
natural balancing mechanism, the errors may accumulate up to
the extreme of an overvoltage condition [23]. The control is
activated when the neutral-point potential exceeds the limits of
a tolerance band [23], [26], [27], [75], [76].
Due to voltage balancing issues, the NPC inverter implemen-
tation has been mostly limited to 3L [19]. Three-level inverters
have an intrinsic natural balancing mechanism that makes the
average neutral-point potential error tend to a zero value [76].
The balancing mechanism thus ensures the gradual elimination
of the error at steady-state operation. Industrial applications
require long-term stability of the neutral-point voltage, rather
than the elimination of the low-frequency dc voltage ripple
[23], [25]–[27].
A variety of strategies have been introduced to solve this
problem [23], [71], [76], [77]. Most of methods have disadvan-
tages in terms of the maximum usable modulation index or an
increase of the inverter switching losses [23] Capacitor voltages
must be stabilized by appropriate control, which should also
balance the neutral-point potential without affecting the output
voltage [23], [71], [77]–[80].
The back-to-back connection of an ML rectifier with an
MLI allows a balance of the dc-link voltages and offers the
power factor correction on the utility side [20], [133]. Addi-
tional voltage balancing circuits, such as a dc chopper, may be
used [20].
Harmonic distortion of the load currents can be minimized
when synchronous optimal pulsewidth modulation (SOPWM)
is used in the upper modulation range, and carrier modulation
is used in the lower range. This permits operation at a very
low switching frequency. However, the on-time durations of
the switching states then increase, which entails higher values
of the neutral-point potential error, particularly during transient
operation [65]. A technique for fast elimination of the neutral-
point potential error exploits the existence of two redundant
subbridges in 3L-NPC inverters [65].
The problem of balance in the capacitor voltages, originally
considered as a drawback of this topology, is solved for 3L-
NPC using redundant states [65], [158], [160], [161] without
compromising performance characteristics. In [161], a simple
SVPWM for operating a 3L-NPC inverter at higher modulation
indexes, including an overmodulation region with neutral-point
balancing, was proposed. Their proposed scheme works well
for different loads.
B. Optimal Modulation
Choosing the modulation strategy of a PWM inverter is a
tradeoff between switching frequency and harmonic distortion.
Particularly, the MV power devices contribute to considerable
switching losses of the total device losses. Fig. 6 shows that a
reduction of the switching frequency from 800 to 200 Hz more
than doubles the maximum inverter current and the inverter
output power [113]. It is therefore worthwhile to consider
2588 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 57, NO. 8, AUGUST 2010

optimum modulation techniques that permit a reduction of

the switching frequency without deteriorating the distortion.
The experimental results in Fig. 8, taken from a 3L inverter,
demonstrate the advantage of optimum PWM [151].
The dual 3L inverter configuration in Fig. 6 works as a five-
level inverter [151]. Its output voltage waveform inherently
exhibits a low harmonic content. The harmonics can be further
reduced by applying SOPWM. The definition of pulse patterns
that synchronized with the fundamental frequency reduces
the conventionally continuous Fourier spectrum to a discrete
spectrum. Such elimination of harmonic components reduces
the THD as a first step. The subsequent optimization of the Fig. 7. Synchronous optimal modulation; signal flow graph.
pulse patterns is done off-line, which requires that steady-state
operation be assumed [128]. The optimization is then not valid
for transient conditions. Consequently, high overcurrents are
generated at changes of the pulse patterns [129], [163]. To
inhibit such transients, the method of trajectory tracking control
was developed [164]. It forces the stator current to follow an
optimal target trajectory, being derived from the pulse pattern
actually in use.
It is a disadvantage, though, that the signal delays within the
control loop increase as the switching frequency reduces. The
control bandwidth then decreases and dynamic decoupling be-
tween torque and flux becomes less effective. Operating at a low
switching frequency also increases the THD. Hence, the use
of optimal PWM techniques seems appropriate [153]. Optimal
PWM techniques are widely explained in [2], [3], [92], [98],
[100], [129], [151], [153], [161], and [162]. In Section III-C,
the SOPWM technique will be described, and appropriate re-
sults showing its advantages for a low switching frequency will
be given.

C. SOPWM
Given the requirements for quality and efficiency in high-
power drive systems, as well as the limitations of switching
losses, low switching frequency and minimized THD are de-
sirable. An optimization of the pulse sequences is possible
under the steady-state conditions. The approach implies that
the switching frequency and the fundamental frequency are
synchronized [2], [128].
Restricting the switching frequency to multiples of the fun-
damental frequency permits the pulse pattern to be optimized
within a fundamental period for minimum harmonic distortion.
The optimization is performed off-line for every steady-state
operating point.
Fig. 7 shows the principle of the SOPWM technique. An
optimal pattern is retrieved from a memory, depending on
the commanded magnitude of the voltage reference vector
u∗ . A modulator generates the switching sequences for the
three phases with the commanded fundamental frequency as
additional input. The performance improvement compared with
carrier modulation was illustrated in previous figure [92], [153].
Since the optimization is only valid at steady state, undesired
transients are encountered whenever the operating conditions
change. The pulse pattern actually in use is then replaced by
another pattern. Consequently, the volt-seconds of the resulting
harmonic voltage component, which are required to be zero in
Fig. 8. Measured waveforms of the current and the output potential, both of
phase a, of a 3L inverter operated at 200 Hz switching frequency, fundamental
frequency f 1 = 33.5 Hz. (a) Controlled by SVM. (b) Controlled by synchro-
nous optimal modulation [65].
the average, assume a nonzero value. This creates a dynamic
modulation error, which leads to high overcurrents, and the
inverter may trip [92], [153].
Therefore, modifications of the precalculated pulse patterns
are required in real time. The method of stator flux trajec-
tory tracking minimizes the deviations of the estimated sta-
tor flux linkage vector from an optimal reference trajectory
through closed loop control. The optimal trajectory is recon-
structed from the pulse pattern actually in use [2], [65], [92],
[151], [153].
Employing SOPWM techniques allows the PWM inverter
of MV drives to be operated at a very low switching fre-
quency. Fig. 8 presents measured waveforms for a 3L-NPC
inverter operating at 200 Hz switching frequency, while Fig. 9
presents measured waveforms for a dual NPC inverter (from
Fig. 6) operating at 90 Hz switching frequency. The benefit is
that a given inverter produces higher fundamental power [2],
[151], [153].
ABU-RUB et al.: MEDIUM-VOLTAGE MULTILEVEL CONVERTERS
Fig. 9. Measured waveforms of the current and the output potential of a
dual MLI with 90 Hz switching frequency operated at fundamental frequency
f 1 = 20 Hz and controlled by synchronous optimal modulation (pulse number
N = 9, modulation index m = 0.4).
D. Stator Flux Trajectory Control
Conventional control methods, for current or torque, that
are established for carrier-based modulation tend to interfere
with the optimal pulse sequence under transient conditions. The
THD are likely to be worse than with nonoptimal modulation.
A way to maintain the current space vector on the respective op-
timal trajectory is through closed-loop control of the harmonic
current. The concept of current trajectory control has been suc-
cessfully implemented [161]. It requires fast identification of
the motor’s total leakage inductance as the operation conditions
vary to obtain an exact agreement between the precalculated
optimized current trajectory and the measured current values.
Current trajectory tracking forces the stator current vector to
follow an optimal trajectory [129], [161]. The target trajectory
is derived from the pulse pattern actually in use. The major
disadvantage of this method is that the stator current trajectory
depends on the parameters of the motor, specifically on the
leakage inductance and the transient stator time constant. In
addition, changing load conditions have been found to influence
the current trajectory [161]. This has led to including an esti-
mation and adaptation algorithm to track machine parameters
and to access the influence of change in operating conditions
[129]. The trajectory of the stator flux linkage vector instead
of stator current can be better used as a tracking target. This
approach eliminates the dependency on machine parameters
and undesired transients in any operation that are not steady
state [2], [153].
Neglecting the minor influence of the stator resistance, stator
flux trajectory tracking is more robust to parameter variations
than the current trajectory tracking scheme [2]. The flux trajec-
tory is also independent of the machine’s load conditions.
E. Power Factor Correction
High power factor is a requirement for electrical equipment.
Therefore, harmonic-free current rectifiers capable of operating
even at unity power factor are required as grid interfaces for
many drives applications [150]. This is essential for the MV
drive due to its high power rating.
The rectifier design is an essential issue in meeting the har-
monic requirements of the utility. This may have a significant
2589
impact on the whole drive system. Therefore, it is important
that the rectifier is an active converter, providing harmonic
mitigation and almost unity power factor for the whole load
range. It is possible that the solution makes it possible for active
damping of system oscillations or transients in addition to the
regenerative capability.
F. Regeneration Mode
The main applications [141] that require regenerative ca-
pability and high dynamic performance include some system
drives, energy storage systems and UPSs, grid interface for
distributed generation sources such as wind turbines and micro-
turbines, and flexible ac transmission systems controllers [19],
[80], [141], [163]–[166]. For these applications, power conver-
sion can be well executed with PWM back-to-back converters
[141]. This consists of identical grid- and load-side inverters
connected through a common dc link [141]. The inverters may
employ the 3L-NPC topology for high-power applications due
to its simpler structure and control [80], [141], [163].
The use of a 3L active front end (AFE) at the input side of a
3L-NPC inverter has become a very popular solution for high-
power regenerative loads [20]. This allows for regeneration with
reduced THD and operation with high power factor or any
active–reactive power combination [20], [163].
The back-to-back connection of NPC converters is utilized
to allow balancing of the dc-link capacitor voltages under all
operating points [20], [133], [167]. Such a connection makes it
possible to draw almost sinusoidal currents from the supply,
to control the input power factor, and to regenerate energy
back to the supply [20], [166]. Additionally, the back-to-back
topology allows the dc-link voltage to vary within certain limits,
to further reduce of current ripple and losses, particularly during
machine operation at lower speeds [20], [167].
A regenerative rectifier is an inverter working with reverse
power flow controlling the dc voltage (or current) [20], [163],
[168]. All the voltage source rectifiers can be implemented with
3L converters. The control strategy is the same and may rely
on developing low switching frequency SHE PWM, which is
better suited anyway for AFE than minimum distortion PWM.
Synchronous optimal modulation and SHE require a trajectory
tracking scheme to avoid excessive transients.
The back-to-back converters are nearly twice the cost of a
single converter due to having almost twice number of compo-
nents [150]. The advantages of having almost sinusoidal input
currents and unity power factor and allowing for regeneration
offset the extra costs of the converter [150].
IV. C HALLENGES AND R EQUIREMENTS FOR I NDUSTRIAL
A PPLICATIONS OF MLCs
A. Power Quality and LC Resonance Suppression
Voltage and current harmonics in power systems have be-
come a challenging problem. The diode rectifier draws dis-
torted line currents, which result in numerous problems such as
nuisance tripping of computer-controlled industrial processes,
transformer overheating, equipment failure, and computer
data loss [1].
2590 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 57, NO. 8, AUGUST 2010
Several standards have imposed limits on higher harmonics
that are injected into the grid, such as IEEE 519-1999, IEC
1000-3-2 International Standard, 1995, and IEC 61000-3-2
International Standard, 2000. Current power electronics re-
search tends to comply with these standards.
The LC line side resonant circuit is used for current har-
monic reduction or power factor compensation [1]. The used
capacitors form an LC resonant circuit with the line inductance
of the system [1]. Since the supply at the MV level has very
low impedance, the lightly damped LC resonances may cause
undesired oscillations or overvoltages, which may destroy the
power switches or other components in the rectifier circuits
[1]. Undesired oscillations or overvoltages must be avoided by
proper design and control.
B. Inverter Switching Frequency
The wide use of high switching frequency devices in power
converters is responsible for rapid voltages and current tran-
sitions. This leads to several serious problems, such as gen-
eration of common-mode (CM) currents, EMI, shaft voltages
and bearing currents in induction motor drives (most MV drive
topologies use this type of motor), and deterioration of motor
and transformer insulation [1].
The distribution of semiconductor losses is a crucial issue.
The losses in the most stressed device highly limit the switching
frequency and the output power [2], [3]. The most critical oper-
ating points of the 3L-NPC VSI are at maximum and minimum
modulation depth, and at a power factor around 1 and −1
[3]. When applying conventional continuous modulation meth-
ods for those cases, one group of devices reaches maximum
junction temperature, while others stay cooler [3]. Unbalanced
distributions of junction temperatures depend on the types of
continuous or discontinuous modulation methods [3]. To solve
these problems, researchers should make additional effort and
expect extra costs [170].
Minimization of switching losses leads to a reduction of
operating costs and an increase in the thermal limits of the
devices [1]. The physical size and cost of the drive can also
be reduced due to the reduced thermal requirements for the
switching devices [1].
Since the switching losses of MV semiconductor devices
contribute the greatest portion of the total device losses, a
reduction in switching frequency permits an increase in the
maximum output power [1]. On the other hand, the reduction of
switching frequency generally causes an increase in harmonic
distortion of the line and motor side waveforms of the drive.
Thus, an optimum solution is sought.
The challenge is to minimize the waveform distortion while
using a very low switching frequency (even below 100 Hz). An
optimum PWM method may be advantageous in achieving this
goal, which is an important trend for research.
C. Motor Side Converter Challenges
The steep switching transients of the power switches at high
commutation voltages generate high switching losses and poor
harmonic spectrum, thus producing additional losses in the
machine [5]. Further problems are created by overvoltages in
cables and machines, and bearing currents due to the steep
switching transients [1], [4], [5].
The disadvantages of variable-speed drives are the additional
harmonic losses, high insulation stress of the machine windings
due to steep dV /dt, and increased overvoltages at the machine
windings if long cables are used [171].
Fast switching of the semiconductor devices results in high
dV /dt at the rising and falling edges of the inverter output
waveforms [1].
In the NPC, the dV /dt would still depend on the switching
characteristics of the power devices, and it could still be an issue
if no output filter is used [1].
The design of the filters should guarantee a THD less than 5%
of the phase voltage, according to the standard IEEE 519-1999
[6]. Filters also permit a reduction of the switching frequency
[6]. An active damping should be proposed to solve the problem
of drive stability and to suppress the LC resonance [9].
D. CMV
The switching action of the rectifier and inverter results in
the generation of zero-sequence voltage, known as CMV, which
appears at the motor terminals. This important parameter needs
special consideration when designing the motor [1], [171].
For the MLC, the CM voltages are similar to those of a 2L
bridge configuration, but on the inverter side, they are of a
lower magnitude [1], [171], [172]. This is because the switching
steps in an NPC are based on the half dc bus voltage, resulting
in a lower voltage step [1]. Therefore, this topic is still being
researched, and several contributions have been appeared [23],
[169], [173]–[175].
An effective solution of the aforementioned problems might
be reached mainly by offering a very low switching frequency
drive system with very low harmonic content. In addition, a
dual inverter-fed open-end winding induction motor drive with
two dc power supplies to eliminate CMV and maintain dc-link
capacitor voltage balancing was presented in [176]–[179]. Such
a topology is formed by cascading a 3L-NPC inverter with two
conventional 2L inverters [177]–[179].
The recommended five-level inverter topology proposed in
this paper (Fig. 5) offers a simpler power-bus structure and
needs less diodes compared to the traditional five-level NPC
inverter [151], [178].
E. Use of Inverter Output Filters
Technical literature provides a very large number of methods
for reducing the disturbances generated at the output of the
PWM inverters. The most common approach is by using filters
based on simple passive components (LC filters) [180]–[184].
The LC filter has the advantage of reducing the differential
mode, the CM voltages, and the overvoltages at the motor
terminals when long cables are used [175], [180]–[184].
A further topology of the CM mitigation solution, based on
active circuits, has been proposed in [169]. The drawbacks of
such schemes are usually an increase in output voltage THD
and/or increased switching losses. Additionally, the CM voltage
ABU-RUB et al.: MEDIUM-VOLTAGE MULTILEVEL CONVERTERS
is not sufficiently reduced, so the motor would still require
increased neutral-to-ground insulation [171].
The present trend is to make it possible to use minimal
LC filters, or even to eliminate the need for them, by en-
suring low harmonic voltage waveforms while maintaining a
low switching frequency. Using intelligent IGBT gate drives
reduces dv/dt and switching losses [185].
Furthermore, the control strategy should actively damp even-
tual filter oscillations and allow fast dynamic operation with
switching frequencies down to 100 Hz.
F. Transformerless Solution
Transformerless solutions are very beneficial for MV drive
applications and attractive for research and application [43],
[141], [167]. Future research should be focused on developing
optimal control for such topologies.
An isolation transformer represents 30%–50% of a total drive
size and 50%–70% of the system’s weight [186], [187]. In
addition to soaring raw material costs, an isolation transformer
adds to total drive costs with extra cabling, cooling, engineering
time, concrete pad construction, and overall installation [186],
[187]. Complex multiwinding transformers mitigate harmonics
through phase shifting [186], [187].
A 1-MV · A transformer generates a big amount of heat
energy (up to 6800 Btu/h) and requires a significant amount of
air conditioning, particularly if used in a hot environment [186],
[187]. Thus, the transformerless solutions result in substantial
energy savings. This is important in many applications such as
utility distribution systems and high-voltage vehicle drives [43].
Solutions for transformerless MV drives are expected to mit-
igate CMV and produce essentially sinusoidal output waveform
and limited dv/dt (10 V/μs) [186], [187].
To mitigate CMV isolation transformers have been used,
either by grounding the neutral point of the dc link or by
grounding the neutral of the motor or the Y point of the output
filter through a special network [186], [187]. Although such
transformers protect the motor from CMV, the high level of
CMV stress that would be imposed on the motor is also imposed
on the transformer and cable insulation [186], [187]. This
requires extra transformer and cable insulation, which is a very
expensive approach. In a tranformerless drive, the integrated dc
choke is used to block the CMV and mitigate motor neutral to
ground voltage [186], [187]. The result is a drive capable of
using standard motor and cable insulation without an isolation
transformer [186], [187].
V. C ONCLUSION
This paper has presented topologies and control solutions
of MV MLCs with an emphasis on low switching frequency
applications. The technical and economic factors suggest the
use of the 3L-NPC inverter topology for industrial applications,
particularly for the low switching frequency range. Challenges
and requirements imposed by MV converters were discussed at
length, and novel solutions were suggested for future research
and applications.
2591
Model predictive control is a relatively new approach of
power electronic converter control that will have significant
impact in the electrical energy conversion process for the
coming decades. Nevertheless, this control strategy needs more
research effort for very low switching frequency applications
with acceptable THD. Until achieving this goal, MPC cannot
be used in the MV industrial applications.
This paper has discussed transformerless solution, which
is very beneficial for MV drive applications. Future research
should be focused on developing optimal control for such
topologies. This paper has shown that high efficiency of MV
drives may be achieved by the following: 1) a low load current
level resulting from a high input voltage; 2) a low harmonic
content through an ML output voltage waveform; and 3) ap-
plying synchronous optimum pulsewidth techniques for low
harmonic distortion. It was shown that by using SOPWM,
the MLI system may operate at less than 100 Hz switching
frequency with acceptable performance. The approach leads
to minimizing both ON-state and dynamic device losses, thus
enhancing the drive efficiency. This is an important trend for
future research and for industrial applications.
ACKNOWLEDGMENT
The authors would like to thank Dr. A. Iqbal for the help in
preparing the final paper.
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Haitham Abu-Rub (M’99–SM’07) received the
M.Sc. degree in electrical engineering from the
Gdynia Marine Academy, Gdynia, Poland, in 1990
and the Ph.D. degree from the Gdansk University of
Technology, Gdansk, Poland in 1995.
For eight years, he has been an Assistant Professor
and an Associate Professor at Birzeit University,
Birzeit, Palestine. For four years, he was Chairman
of the Department of Electrical Engineering, Birzeit
University. He is currently an Associate Professor
with Texas A&M University at Qatar, Doha, Qatar.
His main research interests include electrical machine drives and power
electronics.
Dr. Abu-Rub is the recipient of many prestigious international awards, such
as the American Fulbright Scholarship (at Texas A&M University), the German
Alexander von Humboldt Fellowship (at the University of Wuppertal), the
German DAAD Scholarship (at Bochum University), and the British Royal
Society Scholarship (at Southampton University).
Joachim Holtz (M’87–SM’88–F’93) received
the Dipl.-Ing. and the Ph.D. degrees in electrical
engineering from the Technical University
Braunschweig, Braunschweig, Germany, in 1967
and 1969, respectively.
In 1969, he was an Associate Professor and, in
1971, a Full Professor and the Head of the Con-
trol Engineering Laboratory of the Indian Institute
of Technology, Madras, India. In 1972, he joined
Siemens Research Laboratories, Erlangen, Germany.
From 1976 to 1998, he was a Professor and the Head
of the Electrical Machines and Drives Laboratory, University of Wuppertal,
Wuppertal, Germany. He is currently a Professor Emeritus and a Consultant.
He is the author of, among others, two invited papers published in the
P ROCEEDINGS OF THE IEEE and 12 invited papers published in other IEEE
journals. He is a coauthor of four books. He is the holder of 31 patents.
Dr. Holtz is a former Editor-in-Chief of the IEEE T RANSACTIONS ON
I NDUSTRIAL E LECTRONICS, a Distinguished Lecturer of the IEEE Industrial
Applications Society and the IEEE Industrial Electronics Society, a Senior
AdCom Member of the IEEE Industrial Electronics Society, and a member of
the Static Power Converter Committee, IEEE Industrial Applications Society.
He was the recipient of the IEEE Industrial Electronics Society Dr. Eugene
Mittelmann Achievement Award, the IEEE Industry Applications Society
Outstanding Achievement Award, the IEEE Power Electronics Society William
E. Newell Award, the IEEE Third Millenium Medal, the Anthony J. Hornfeck
Service Award, and the IEEE Lamme Gold Medal. He is also the recipient of
16 Prize Paper Awards.
2596 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 57, NO. 8, AUGUST 2010

Jose Rodriguez (M’81–SM’94) received the Ge Baoming was born in Shanxi, China, in 1971.
Engineer degree from the Universidad Tecnica He received the Ph.D. degree in electrical engi-
Federico Santa Maria, Valparaiso, Chile, in 1977 and neering from Zhejiang University, Hangzhou, China,
the Dr.-Ing. degree from the University of Erlangen, in 2000.
Erlangen, Germany, in 1985, both in electrical From 2000 to 2002, he was a Postdoctoral Re-
engineering. searcher in the Department of Electrical Engineering,
Since 1977, he has been with the Depart- Tsinghua University, Beijing, China. From 2004 to
ment of Electronics Engineering, University Tecnica 2005, he was a Visiting Scholar in the Department
Federico Santa Maria, where he is currently a Pro- of Electrical and Computer Engineering, University
fessor. From 2001 to 2004, he was the Director of of Coimbra, Coimbra, Portugal. From 2007 to 2008,
the Department of Electronics Engineering of the he was a Visiting Professor in the Department of
same university. From 2004 to 2005, he was the Vice Rector of Academic Electrical and Computer Engineering, Michigan State University, East Lansing.
Affairs and, since 2005, has been the Rector of the same university. During He is currently with the School of Electrical Engineering, Beijing Jiaotong Uni-
his sabbatical leave in 1996, he was responsible for the Mining Division of versity, Beijing, China, as a Professor. His research interests include permanent-
Siemens Corporation, Santiago, Chile. He has extensive consulting experience magnet synchronous, switched reluctance, and induction motors, real-time
in the mining industry, particularly in the application of large drives such as control of electrical machines, power electronics systems, and nonlinear control
cycloconverter-fed synchronous motors for SAG mills, high-power conveyors, theories and applications to electric drives.
and controlled ac drives for shovels and power-quality issues. He has directed
more than 40 R&D projects in the field of industrial electronics. He is a
coauthor of more than 250 journal and conference papers and contributed
one book chapter. His research group has been recognized as one of the two
Centers of Excellence in Engineering in Chile from 2005 to 2008. His main
research interests include multilevel inverters, new converter topologies, control
of power converters, and adjustable-speed drives.
Dr. Rodriguez has been an active Associate Editor of the IEEE T RANSAC -
TIONS ON P OWER E LECTRONICS and the IEEE T RANSACTIONS ON I NDUS -
TRIAL E LECTRONICS since 2002. He has served as a Guest Editor for the IEEE
T RANSACTIONS ON I NDUSTRIAL E LECTRONICS in six instances [Special
Sections on Matrix Converters (2002), Multilevel Inverters (2002), Modern
Rectifiers (2005), High Power Drives (2007), Predictive Control of Power
Converters and Drives (2008), and Multilevel Inverters (2009)]. He received
the Best Paper Award from the IEEE T RANSACTIONS ON I NDUSTRIAL
E LECTRONICS in 2007.