2017 25th Iranian Conference on Electrical Engineering (lCEE)

A Switched Reluctance Motor Drive System with

Voltage Regulation and Power Factor Correction
Front-End Converter

Moien Mohamadi Amir Rashidi Sayed Morteza Saghaian­ Mohamad Ebrahimi

Isfahan University of
Technology
Dept. of Electrical and
Computer Engineering,
Isfahan, Iran, 8415683111
Moien.mohamadi@ec.iut.ac.
ir
Isfahan University of nezhad
Technology Isfahan University of
Dept. of Electrical and Technology
Computer Engineering, Dept. of Electrical and
Isfahan, Iran, 8415683111 Computer Engineering,
Isfahan, Iran, 8415683111
Isfahan University of
Technology
Dept. of Electrical and
Computer Engineering,
Isfahan, Iran, 8415683111

Abstract-A Modified Z-Source Converter (MQZSC) is presented
in this paper as a front end converter for the switched reluctance
motor (SRM) drive system in order to perform voltage regulation
and Power Factor Correction (PFC). In conventional SRM drive
system pulsation current causes high Total Harmonic Distortion
(THD) in the input source and DC link voltage cannot be
controlled. In this paper using the MQZSC voltage of the DC link
is regulated according to the operation mode and requirements of
the drive system. Average Current Control (ACC) PFC has been
integrated in to the control system of the front end converter to
reduce THD and enhance the power factor. Also an angle control
has been implemented in the SRM drive system to reduce the
torque ripple alongside the front end controller. A software
simulation has been done to verify the proposed drive system.
Keywords-MQZSC; SRM drive system; voltage regulation;
power factor correction
I. INTRODUCTION
The switched reluctance motor is a reliable machine, which
can operate in wide range of speeds [1]. Also the torque is
independent of the direction of current, so the current can be
controlled with one switch instead of two switches in AC
machines. But inductance of the SRM changes with the
current and rotor position, hence voltage must be applied
periodically for magnetization and demagnetization of each
phase, so a special converter is needed in SRM drive to apply
voltage and make possible the independent current control in
each phase [1]-[2]. Also the fluctuation of the inductance
makes the output torque of the SRM highly rippled and this in
turn cause vibration and acoustic noise in the machine.
The performance of a SRM drive system is greatly dependent
on the regulation of the DC-link voltage [3]-[5], also different
application of the SRM, such as: Electric vehicle, hybrid
electric vehicles, and battery charging require accurate DC­
link voltage adjustment [6]-[7]. Besides in the wide speed
operation tuning the DC-link voltage can compensate for the
rising back EMF of the machine.
So to regulate the DC-link voltage subsequently control and
enhance the performance properties of the SRM various front
end converters are proposed in the literature. Increasing the
DC-link voltage in the magnetization and demagnetization
will reduce magnetization and demagnetization time in the
SRM, subsequently performance is enhanced and operation
range will be increased. Therefore most of the proposed front
end converters are from boosting nature. Also because of the
pulsed current that is derive from the input AC source by the
SRM drive the input current is polluted with high order
harmonics and also the power factor is weak. So in control of
the drive system power factor correction is one of the main
concerns.
In [8] a passive boost converter is used for the front end
converter to increase magnetization and demagnetization
voltage of the SRM, which enhance the operation of the
system but lacks the switch mode to implement voltage
regulation. In [4]-[5], [9] different front end converters is used
to improve the power factor and THD of the drive system,
especially in [5] a current source converter is used.
In [3] a drive system with a modified boost converter for the
SRM machine has been proposed, in this drive system with the
implication of the switch mode front end converter the applied
voltage to the SRM is regulated and a robust voltage and
current control is implanted to control the drive, but the
complicated control system makes the control hard to execute.
In [10] an integrated multi-port converter is proposed to
reduce the DC-link capacitor size, which can be large due to
transient current commutation. In this research using Modified
Quasi Z-Source Converter (MQSC) front end converter high
magnetization voltage and DC-link voltage regulation is
implemented. In [11] a quasi-z source converter is
implemented as the front end converter for the SRM drive. In
[11] the switch mUltiplexing technique is introduced to
integrate the Asymmetric H-Bridge Converter (ASHB) in to
Quasi Z-Source Converter (QZSC) as it is in [10] to reduce the
capacitor size. Also using the front end converter and
repetitive controller voltage regulation in the DC link and
power ripple reduction is achieved. But in this converter the

978-1-5090-5963-8/17/$31.00 ©2017 IEEE

1095
2017 25th Iranian Conference on Electrical Engineering (lCEE)
ripple of the output torque is high, which in turn increase the
acoustic noise and vibration.
In this paper a modified quasi z source converter is introduced
as front end converter. In MQZSC the magnetizing and
demagnetizing port is decoupled, which prevent the current
overlap of the subsequent phases in the SRM operation. In
here also a turn on and turn off angle control is introduced to
couple with the DC-link voltage regulation, which is
implemented by MQZSC, to reduce the torque ripple. In order
to coordinate the SRM current control and the voltage
regulation of the MQZSC a magnetization time controller
loop is introduced to produce the reference of the DC-link
voltage controller. Also an average current control power
factor correction is implemented in the MQZSC control
system to reduce the high Total Harmonic Distortion (THD)
and increase the power factor, which is caused by transient
energy in current commutation.
II. FRONT END CONVERTER TOPOLOGY
The MQZSC is introduced here as front end converters of the
SRM drive system. In this proposed alternation of the QZSC
two outputs are detached from the converter to be applied to
the ASHB converter in the SRM, also a switch is implemented
in the output to perform the shoot through operation. The
MQZSC as the front end converter of the ASHB in the SRM is
shown in Fig. 1.
Fig. 1 topology of the proposed SRM drive
In the MQZSC the magnetization voltage is applied from C"
which can be boosted appropriate to the performance
priorities. Demagnetization voltage is applied from the series
connection of C, and C2 therefore the demagnetization voltage
will be boosted more than magnetization, so magnetization
time will be reduced and operation in the negative torque
generation will be prevented. The magnetization and
demagnetization voltage is shown in (1) and (2):
I-D V Peak )
Vmag =
I- 2 � ( 'J2
s
1 V Peak
Vdemag =
1-2Ds ( 'J2 )
In (1) and (2) Vmag and Vdemag are magnetization and
demagnetization voltages respectively, Ds is the duty cycle of
va:eak is the peak value of the input
the MQZSC converter, and
ac voltage. In these two detachments magnetization is a DC
voltage and demagnetization is a pulsed voltage with the
frequency of the shoot through switch.
With higher voltages the drive can operate in higher speeds
and larger loads, since the increment in the voltage will
compensate for the rising back EMF voltage in higher speeds.
Also voltage chopping operation in higher current reference in
the speed-current controller of the SRM can be reached and
subsequently according to (3) higher output torque can be
achieved:
(3)
Using this new MQZSC the input power of the ASHB can be
processed and the voltage can be regulated. So a sophisticated
control needs to be applied here to make the best of the
proposed converter.
Also with this new converter magnetization and
demagnetization current flow in two different current passes in
result current overlap in the subsequent phases will not be of
concern and independent current control in each phase of the
SRM can be achieved.
III. CONTROL STRATEGY
With addition of MQZSC converter as the front end converter
of the SRM drive system potentials to the new abilities of this
new converter is at reach. A sophisticated control system
needs to be designed to make maximum use of the new
abilities added to the drive system.
Switched reluctance motor has doubly salient structure (Fig.
2(a)); hence the produced torque by the SRM is polluted with
torque ripple. Torque ripple in SRM leads to more vibration
and acoustic noise. It also decreases the power factor and
increase THD in the input of the machine.
Torque in SRM is generated by the tendency of the rotor to
move to a position with less reluctance. With applying voltage
to phase a rotor pole starts to rotate, moving the rotor from a
minimum inductance (L" ) toward maximum inductance (La)
with positive slope. After that the rotor pole reached the
maximum inductance, which is the aligned postion with the
stator pole, inductance linger in the aligned position for the
time that stator and rotor are overlapped and the phase voltage
of the next phase is applied and rotor pole moves toward the
next pole phase.
Ideal inductance profile (neglecting fringing) of the SRM is
shown in Fig. 2(b). To transfer maximum energy to the SRM
(1) phases in each stroke, positive voltage in chopping mode
should be applied to the SRM in the rising inductance profile.
Also in order to prevent SRM to enter negative torque
production, in the negative slope of the inductance profile,
(2)
SRM phase should be demagnetized before entering negative
torque generation region.
One of the perks of the adding the proposed MQZSC as front
end converter is that the DC link capacitor can be removed.
Because of the impedance network in the proposed converter
the output of the diode bridge can be connected directly to the
MQZSC. With the AC input in the proposed SRM drive power
1096
2017 25th Iranian Conference on Electrical Engineering (lCEE)

factor correction is essential, because input diode bridge and

distorted operation of the SRM pollutes the SRM input also
increase the torque ripple. A power factor correction is
integrated in the MQZSC control system to reduce the THD in
the polluted input current of the SRM.
In this section a control strategy has been proposed for SRM,
to derive the maximum energy from the converter in each
stroke and also preventing SRM from entering the negative
torque generation region.
Also magnetizing time is controlled using QZSC voltage
regulation ability to minimize magnetization time, and
consequently with voltage regulation reduce demagnetization
time.
With this control strategy with increasing speed the SRM
drives system adapts itself to stretched magnetizing time and Fig. 3 controller block diagram of the complete proposed drive system
increase the voltage, this feedback voltage control in turn
results in reduced magnetization time. Besides torque ripple
will be reduced, energy transfer in one stroke will rise due to
increase chopping period, and a widened span of speeds
became available in this SRM drive. The controller block
diagram is shown in Fig. 3.
A. Turn on and turn off angle control
The detailed block diagram of the turn on control is shown in
Fig. 4 turn on angle controller block diagram
Fig. 4. This controller is designed here for a 4-phase 8/6 SRM
based on its inductance profile. The inductance profile of the
mentioned motor is shown in Fig. 5 for different currents. This (4)
inductance profile is produced using an experimental method
proposed in [13]. As it is highlighted in Fig. 5 the ideal region In (4) k is indicating the Ktlt period of the machine phase. This
of conduction for SRM is, when inductance profile begins to angle is compared to 8:;/ ,which is derived from the
rise, and until inductance slope begins to be flattened. In order experimental inductance profile of the machine, and the error
to adjust the SRM converter to conduct in this region the turn signal is fed to a PI controller.
on angle must be advanced. The output of the PI control is summed with a feed forward
signal of the 81itand also it is corrected by initial advance angle
(8�'d�).
Conduction period with
• maximum slope
.

O.O-tS

0_04

O.oJ5

=- 0.03
'E"i 0.025
]: 0.02

0.015

a'
0.01 .----

(a) O.OO5 i---_====:x:=----r-i

°O�--�7
,0 --�2�
O ----�
J O --��
, O ----�O; ���
l'ositiolllOcgj

Fig. 5 experimental inductance profile of the 8/6 4 phase SRM with different
phase currents

As it is mentioned in [14] this initial angle is calculated as:

(/"t Llli'BfW
= /'

ad" (5)
V phase
(b)

Fig. 2 (a) stator and rotor pole structure for the 8/6 SRM (b) idealized and
experimental inductance profile and current of the motor

1097
2017 25th Iranian Conference on Electrical Engineering (lCEE)
In (5) Lu is the unaligned inductance,
ifP! is current reference,
W is rotor speed, and v phase is the voltage applied to the SRM
r The voltage command for this controller is designed to reduce
phase.
In turn off control the approach that was used in turn on
control is repeated with different objective. In this controller,
which its detailed block diagram is shown in Fig. 6 the
controller prevents SRM from entering negative torque
generation mode in the same time controls the SRM so that the
transfer energy period will be maximum. Similar to
magnetization, demagnetization of the SRM phases takes time
which generally is higher than magnetization time and
contributes to torque ripple production. Demagnetization time
(8demag) is the period between turn off (8ott) and when the
phase current reaches zero (8z) and all the energy in the SRM
phase is depleted.
( 6)
8� is controlled
et using a PI controller and feed forward of its
reference. 8; is considered to be the end of a SRM stroke
which in a 4ph 8/6 it is 60°.
Fig. 6 turn off angle controller block diagram
B. Magnetization and MQZSC control
Block diagram of the proposed controller is shown in Fig. 7.
With applying turn on and turn off angle the phase is
constrained and energy transfer period could be decreased.
Also in higher speeds when back EMF became more
prominent magnetizing and demagnetizing times are longer
,which in turn causes the conduction period to increase also
this can increase the torque ripple if the turn on and turn off
angle doesn't happen in the right moment. So in order to
prevent these difficulties with using the proposed MQZSC the
applied voltage to the SRM phases can be regulated to reach
the desired magnetizing time and demagnetizing time. Ideally
minimum 8mag and 8demag is desired but increasing voltage
cause increased voltage stress on ASHB semiconductor
devices, also MQZSC efficiency and component voltage stress
rises. So according to speed and performance of the SRM
8::£g is considered for this controller.
In this controller the error between 8::£g and 8mag is fed to a
PI controller and the output of the PI controller produces a
voltage variation (tove) in the command voltage that makes
the 8mag to reach the reference value.
As it is shown in Fig. 7 a dual loop indirect current programed
controller is chosen for MQZSC controller. Compared to
single loop controller, dual loop controller effectively
regulates the inductor current during the transient event and
increases the stability limit of the system [15]. Also in order to
1098
refrain from instability in the feedback controller the PI
controller parameters should be designed with extreme care.
magnetization time:
Vcom = t.ve+vin (7)
Fig. 7 magnetization angle controller and MQZSC controller with ACC PFC
Because of the fluctuating nature of the SRM the produced
torque in the SRM is polluted with ripple. This varying
current and torque ripple causes power factor of the input
source to be deteriorated. Also the THD in the line current
,because of the variation nature of SRM current will be high in
SRM drive.
In the PFC the fact that the inductor current is tightly
controlled results in simple converter dynamics allowing
simple and robust wide band width control in the DC-DC
converter.
The digital power factor correction method can be embedded
in this voltage regulation method without affecting its
operation.
Average Current Control (ACC) method is chosen for PFC.
ACC method is coordinated with MQZSC voltage controller,
which means that in this method inductor current will be made
to be in phase with the input voltage, and in the same time
voltage of the capacitor C1 is controlled.
In Table 1 a comparison between the proposed drive system
and other drive systems in the literature with front end
converter has been done.
IV. SIMULATION RESULTS
A software simulation of the proposed drive system has been
done. The characteristics of the drive system are shown in
Table 2. Also a comparison in the key operational elements is
done between conventional SRM drive system and the
proposed drive system with and without the control system for
the front end converter. It is shown that the front end converter
and the proposed control reduce the torque ripple, increase the
power transfer ratio in each cycle of the SRM period, reduce
the THD of the input current, increase the power factor in the
input, and increase the high performance speed area of the
SRM drive system.
2017 25th Iranian Conference on Electrical Engineering (lCEE)

Table I comparison between the proposed converter and other front end Table 2 Characteristics of the simulated drive system
converters in the literature
Parameter Value
Proposed [8] [3] [II] [9]
drive Speed reference ISOO rpm
system Load torque SN.m
Capacitors 2 2 2 2 2 C1 I.SmF
Inductors 2 I I 2 0 C2 ImF
Switches I 0 I 1 1 LI ImH
Diodes I 3 I 0 2 L2 ImH
Mag. voltage I-D V dc' I Vdc'
'V -,-v
Switching frequency of the 2SKHz
-- d
'" 2 v'"
7/d' J-2D, , 2 v'"
1-2D, MQZSC
O<D <I 05,D, <0.5
O�D, <0.5

Demag. I -V"', - -,- v

--Yd,
_V -�v'" '"
voltage 1-2D, d, -2 V", D 1-2D,
__

O<D <I 05,D, <0.5

O�D, <0.5

The input voltage is assumed to be the standard grid voltage (

V,:::S = 11Ov ,V;:ak = 160v ), also the standard input frequency
(f=50Hz) is considered for the input.
In the comparisons that is done between the proposed drive
system and conventional SRM reference current, reference
speed, load torque, and input voltage is designed to be the
same. Also the proposed front end converter and drive system
is evaluated and compared with and without the proposed Fig. 8 Comparison between the phase current and voltage of the SRM in
conventional converter and the proposed drive system with and without
control system and has been investigated in each term. controller.
Fig. 8 shows the comparison between the phase currents and
voltage in the conventional drive system and the proposed
� 2 .-�-�-��-�-��-�-�-.
.
drive system with and without control. It is obvious that since
'"'
I �---------------
----------�
the voltage boosting ability of the front end converter the � �'=" - 0.12::---"'0.=73----::70.: ,,:--:0:
1. ----::70.: ,,:-:0: .0 1::- , ----:0:7.11:-:0:
, ----'-0.=6 0 .•
- .0 ,::-.----'- 0.,9= ----:'
. TimelS)
magnetization and demagnetization time is decreased "

dramatically also with voltage regulation and magnetization

angle control this value is reduced further, which leads the ;::6:
Q 0.7 0.71
0.75
TimelS)
0.76 0.72
0.77 0.78
:�
0.73
0.79 0.' 0.74
:�
transformation of the same amount of power in shorter � 3 6 .-�-�-��-�-��-__-�-.
; 34 r-------------------------�
strokes. Magnetization and demagnetization angles with the
proposed control are shown in Fig. 9. o - .0 12::---"'0.=73----:0:7
3 � '="1. ----:0:7. 1,:-:0: .1:-
. :0:
- 0.1::- .' 6----:0.:7 1:-
' ----'-0= 1 - 0.,::-.----'-0.,9
-:0: 0 .•
= ----:'
TimelS)
With shorter conduction time controllability of each phase 55

current is increased and as it was mentioned in section III-B

t
I::: 1-------
o '1,'="1. ----:0:7 0 .•
turn on and tum off angle can be controlled to derive the .1=-
.1,:--O:O: ' ----'-0.=73----:0:7.74:---:0:
0 1::-
.
TimelS)
0.=
, ----'-
,6 ----::70.11:-0.-:0: . ----'-0=
- , ::- ., 9----:'

maximum torque from the motor in each stroke and prevent it

from entering the negative torque generation. The tum on and Fig. 9 Magnetization, demagnetization, turn on, and turn off angles in the
proposed drive system.
turn off angles is shown in Fig. 9. With this control in the on­
off angle and magnetization time and also with application of
Torque in conventional SRM
the ACC-PFC method the torque ripple of the SRM is reduced
in comparison with the conventional drive system as it is
shown in Fig. 10 also it can be seen that in the MQZSC
i:V\2\2S!\2\2SZ\J
6.4'=", ---:= � :- 34:-'-:-
0.� :- ,,:-:O.7.
0.4 � O.� 0.� 0.� ;-O� ::---:!.0 '45
TimelSI
I- O .4 0.4
:- 32---: 4 '6---: 442
"----=- :-: :- :-
444 -:-446 . -::448

without control also torque has been enhanced to some level To rque in M QZSC RM wUhoul control
with is due to increased voltage through front end converter. E ' '-OC������--C-�-'��
�
�6
As it was discussed in section III-B a power factor correction e"4

and THD reduction method is implemented in the double loop � 6.4':-

' -::- -:: 448::--:
0 :' 45
TimelSI
.O 4=32--::-
.
0�4 34---:4:- ' 6--::-
.0 � 0.7:
4 38:-::
: ."----=-O.�442:-:0.�
07. :- :--:-�O.446;-O.�
4" .

current programmed control of the MQZSC. Fig. 11 shows the

harmonic spectrum of the conventional and proposed drive
system with and without control as it is shown the high order i�
� 0.43 0.432 0.434 .0 436 0.438
TimelSI
0.44 .0 442 0.444 0.446 .0 448 .0 45
harmonics is reduced dramatically in the proposed drive
system. Also in Fig. 12 input voltage and current has been Fig. 10 Torque ripple comparison between conventional SRM drive and the
shown for the 3 drive systems and as it is shown the power proposed drive system with and without cotroller.
factor after adding the proposed control has been increased.

1099
2017 25th Iranian Conference on Electrical Engineering (lCEE)
Fig. II harmonic spectrum of the conventional SRM drive and the proposed
drive system with and without control.
Fig. 12 Voltage and current of the conventional SRM and the proposed drive
system with and without control in order to evaluate power factor.
V. CONCLUSION
A modified Quasi Z source converter has been proposed as the
front end converter of the SRM drive system to regulate the
input DC-link voltage. Also a turn on and turn off angle
controller has been implemented in the drive system to reduce
the torque ripple alongside the front end converter control
system. The reference of the front end converter controller has
been fed through a magnetization angle controller to make it
compatible to the SRM control system. Average current
control power factor correction has been embedded in the
MQZSC control system to reduce the high THD of the SRM
drive system and improve the input power factor. Finally a
software simulation has been executed to verify the proposed
drive system and show its significance in comparison with the
conventional SRM drive system.
REFERENCES
[I] Krishnan, Ramu. Switched reluctance motor drives:
simulation, analysis, design, and applications. CRC press, 2001.
[21 K. 1. Hwu and C. M. Liaw, "DC-link voltage boosting and switching
control for switched reluctance motor drives," in iEE Proceedings -
Electric Power Applications, vol. 147, no. 5, pp. 337-344, Sept. 2000.
doi: 1O.1049/ip-epa:20000540
[3] J. Y. Chai and C. M. Liaw, "Development of a Switched-Reluctance
Motor Drive With PFC Front End," in IEEE Transactions on Energy
Conversion, vol. 24, no. I, pp. 30-42, March 2009.
[4] M. Rajesh and B. Singh, "Analysis, design and control of single-phase
three-level power factor correction rectifier fed switched reluctance
motor drive," in iET Power Electronics, vol. 7, no. 6, pp. 1499-1508,
June 2014..
[5] A. Rashidi, M. M. Namazi, A. Bayat and S. M. Saghaiannejad, "Power
factor improvement using current source rectifier with battery charging
capability in regenerative mode of switched reluctance motor
drives," 2013 21st Iranian Conference on Electrical Engineering
(iCEE), Mashhad, 2013, pp. 1-5.
[6] E. Roshandel, M. M. Namazi, A. Rashidi, S. M. Saghaian-Nejad and 1.
W. Ahn, "A control approach to achieve maximum power with
minimum current ripple for switched reluctance generator in battery
charging application," 2016 IEEE Transportation Electrification
Conference and Expo, ASia-Pacific (ITEC ASia-Pacific), Busan, 2016,
pp. 1-6.
[7] K. W. Hu, P. H. Yi and C. M. Liaw, "An EV SRM Drive Powered by
BatterylSupercapacitor With G2V and V2HN2G Capabilities," in IEEE
Transactions on Industrial Electronics, vol. 62, no. 8, pp. 4714-4727,
Aug. 2015.
[8] J. Liang, D. H. Lee, G. Xu and J. W. Ahn, "Analysis of Passive Boost
Power Converter for Three-Phase SR Drive," in IEEE Transactions on
Industrial Electronics, vol. 57, no. 9, pp. 2961-2971, Sept. 2010.
[9] L. Samani, M. Abdolhamidi, A. Rashidi and S. M. Saghaiannezhad, "A
specially-designed converter for minimizing SRM torque ripple and
improving its power factor," Power Electronics, Drive Systems and
Technologies Conference (PEDSTC), 2014 5th, Tehran, 2014, pp. 604-
609.
[10] W. Cai and F. Vi, "An Integrated Multiport Power Converter With Small
Capacitance Requirement for Switched Reluctance Motor Drive,"
in iEEE Transactions on Power Electronics, vol. 31, no. 4, pp. 3016-
3026, April 2016.
[11] F. Yi and W. Cai, "A Quasi-Z-Source Integrated Multiport Power
Converter as Switched Reluctance Motor Drives for Capacitance
Reduction and Wide-Speed-Range Operation," in iEEE Transactions on
Power Electronics, vol. 31, no. II, pp. 7661-7676, Nov. 2016.
[12] Y. Sozer, D. A. Torrey and E. Mese, "Automatic control of excitation
parameters for switched-reluctance motor drives," in IEEE Transactions
on Power Electronics, vol. 18, no. 2, pp. 594-603, Mar 2003.
[13] C. S. Edrington, B. Fahimi and M. Krishnamurthy, "An Autocalibrating
Inductance Model for Switched Reluctance Motor Drives," in IEEE
Transactions on Industrial Electronics, vol. 54, no. 4, pp. 2165-2173,
Aug. 2007.
[14] B. K. Bose, T. J. E. Miller, P. M. Szczesny and W. H. Bicknell,
"Microcomputer Control of Switched Reluctance Motor," in IEEE
Transactions on industlY Applications, vol. IA-22, no. 4, pp. 708-715,
July 1986.
[15] Y. P. Siwakoti, F. Z. Peng, F. Blaabjerg, P. C. Loh, G. E. Town and S.
Yang, "Impedance-Source Networks for Electric Power Conversion Part
II: Review of Control and Modulation Techniques," in IEEE
Transactions on Power Electronics, vol. 30, no. 4, pp. 1887-1906, April
2015.
modeling,
llO0