Journal of Power Electronics, Vol. 13, No.

1, January 2013 161

http://dx.doi.org/10.6113/JPE.2013.13.1.161
JPE 13-1-16

Novel Control Strategy for a UPQC under Distorted

Source and Nonlinear Load Conditions
Quoc-Nam Trinh* and Hong-Hee Lee†
*†
School of Electrical Engineering, University of Ulsan, Ulsan, Korea

Abstract
This paper proposes a novel control strategy for a unified power quality conditioner (UPQC) including a series and a shunt
active power filter (APF) to compensate the harmonics in both the distorted supply voltage and the nonlinear load current. In the
series APF control scheme, a proportional-integral (PI) controller and a resonant controller tuned at six multiples of the
fundamental frequency of the network ( 6wS ) are performed to compensate the harmonics in the distorted source. Meanwhile, a PI
controller and three resonant controllers tuned at 6nws (n=1, 2, 3) are designed in the shunt APF control scheme to mitigate the
harmonic currents produced by nonlinear loads. The performance of the proposed UPQC is significantly improved when
compared to that of the conventional control strategy thanks to the effective design of the resonant controllers. The feasibility of
the proposed UPQC control scheme is validated through simulation and experimental results.

Key words: Active Power Filter (APF), Harmonic compensation, Resonant controller, Unified Power Quality Conditioner (UPQC)

power quality conditioner (UPQC) has been developed [2],

I. INTRODUCTION
[3]. The UPQC is composed of a shunt and a series APF to
Power quality problems have been increasingly causing ensure that both the load voltage and the supply current
concerns due to the wide use of nonlinear loads such as become sinusoidal, where the shunt APF is operated as a
adjustable speed drives, electric arc welders, and the controlled current source to compensate the harmonic
switching power supplies in distribution systems. Nonlinear currents produced by nonlinear loads. Meanwhile, the series
loads cause harmonic currents in networks and consequently APF acts as a controlled voltage source to compensate the
distort the voltage waveform at the point of common harmonics of the supply voltage. Various UPQC control
coupling (PCC) due to system impedances. This distorted schemes have been developed to mitigate harmonic voltages
voltage waveform harmfully affects the other loads connected and currents [2]-[14]. The majority of the previous studies are
at the PCC. To avoid this problem and to protect loads from based on the p-q theory and they require too many sensors:
distortions, the harmonic components of the voltage and three sets of current sensors and two sets of voltage sensors,
current must be fully compensated. as shown in Fig. 1 [2]-[5].
LC passive filters and shunt active power filters (APFs) are In Fig. 1, in order to compensate the distorted voltage and
regularly used to mitigate harmonic currents [1], [2]. current, the harmonic components in the supply voltage and
However, this method does not have a control effort to reduce in the load current are detected through harmonic detectors
the voltage harmonics at the PCC since it is only capable of and regulated by hysteresis controllers. The harmonic
dealing with harmonic current problems. In other words, even detectors are regularly realized by using a low-pass filter
though harmonic currents are successfully compensated, the (LPF) or a high-pass filter (HPF) in the fundamental
voltage waveform at the PCC is unable to be sinusoidal. reference (d-q) frame [13]. The harmonic detectors should be
In order to simultaneously deal with harmonic voltage designed carefully to achieve both a fast dynamic response
and current problems, an advanced solution, i.e., the unified and good steady-state performance for the UPQC. Otherwise,
the whole control performance of the UPQC may be
Manuscript received May 29, 2012; revised Nov. 5, 2012 deteriorated. Even though hysteresis controllers are robust
Recommended for publication by Associate Editor Kyeon Hur. and easy to implement, they still suffer from two main
†
Corresponding Author: [email protected]
Tel: +82-52-259-2187, Fax: +82-52-259-1686, University of Ulsan shortcomings. First, the output filters of the converters are
*
School of Electrical Engineering, University of Ulsan, Korea difficult to design, due to the varying switching frequency.
162 Journal of Power Electronics, Vol. 13, No. 1, January 2013

control scheme. As shown in Fig. 2, the proposed control

scheme does not require harmonic detectors. The load voltage
and the supply current are directly measured and regulated to
be sinusoidal by the proposed PI-R voltage controller and the
PI-3R current controller. Due to the absence of harmonic
detection in the proposed control strategy, the accuracy and
the steady-state performance of the UPQC can be
significantly improved.

A. Proposed PI-R Voltage Controller

The main objective of the series APF is to compensate the
harmonic voltages in a distorted source to keep the load voltage
sinusoidal.
Assuming that the source voltage, available at the PCC ( vS ),
Fig. 1. Block diagram of the conventional UPQC control scheme. is distorted and includes fundamental ( vS 1 ) and harmonic
Second, the control performance is limited by a trade-off components ( vSh ), as defined in (1):
between the hysteresis band (HB) and the switching vS (wt ) = vS 1 + å vSh . (1)
frequency. If the HB is designed to be small, the control h ¹1

performance may be better. On the other hand, if the To make the load voltage sinusoidal, the harmonic
switching frequency becomes high, the switching loss is components presented in (1) must be completely compensated.
increased. In three-phase systems, the harmonic voltages have odd
Recently, indirect control techniques have been components (6n±1, where n = 1, 2, 3...) of the fundamental
introduced to simplify the control scheme, where the load frequency of the network ( wS ). Among these harmonics, the
voltage and the supply current are measured and regulated fifth and seventh harmonics are the most severe components
instead of the filter voltage and current [6]-[14]. As a result, that need to be eliminated.
the harmonic detectors are eliminated and the number of A resonant controller is an effective solution to regulate
sensors is reduced. Only two sets of voltage sensors and one specific ac signals [15]. Two resonant controllers tuned at
set of current sensors are needed to implement the UPQC.
5wS and 7wS are able to sufficiently track the fifth and seventh
However, since these control strategies are still developed by
harmonics. Moreover, since both the fifth and seventh
using hysteresis controllers, good control performance cannot
harmonics become the sixth harmonic in the d-q frame, one
be achieved since switching ripples appear in the load voltage
and in the supply current. resonant controller with a resonant frequency of 6wS is also
To improve the performance of a UPQC, this paper capable of simultaneously compensating both the fifth and
proposes a novel control strategy with the aid of seventh harmonic voltages. As a result, the control scheme is
proportional-integral (PI) and resonant controllers. In the simplified since only one controller is needed to regulate two
series APF control scheme, a PI controller plus a resonant harmonics. The open-loop transfer function of the resonant
controller tuned at six multiples of the fundamental frequency
of the network ( 6wS ) are used to compensate harmonic
voltages. Meanwhile in the shunt APF control scheme, a PI
controller and three resonant controllers tuned at 6nws (n=1,
2, 3) are used to mitigate harmonic currents. As a result, the
load voltage and the supply current can be regulated to be
sinusoidal waveforms. Owing to the effective design of the
resonant controllers, the control performance of the UPQC is
significantly improved when compared to conventional
control strategies. The feasibility of the proposed UPQC
control scheme is verified through simulation and
experimental results.

II. PROPOSED UPQC CONTROL STRATEGY

Fig. 2 shows a block diagram of the proposed UPQC Fig. 2. Block diagram of the proposed UPQC control scheme.
 Journal of Power Electronics, Vol. 13, No. 1, January 2013 163

Fig. 3. Proposed PI-R voltage controller. Fig. 4. Proposed PI-3R current controller.
controller is defined as (2). It is the same as the harmonics in the voltage case where
the (6n±1) harmonic currents become 6n harmonics in the d-q
K r 6wc s frame. Hence one resonant controller with a resonant
GR = (2)
s + 2wc s + (6ws ) 2
2 frequency of 6nwS is capable of regulating a pair of (6n±1)
.
harmonic currents. Therefore, the number of controllers is
where K r 6 and wc are the resonant gain and the cut-off reduced by half. In fact, the effects of very high order
frequency of the resonant controller, respectively. harmonics can be negligible. In this paper, only the first six (up
In addition, a PI controller is utilized to compensate a small to 19th) harmonics are considered to be compensated.
voltage drop resulting from the system impedance and the Accordingly, three resonant controllers are needed to regulate
series transformer. It is also used to improve the dynamic these six harmonic currents. The open-loop transfer function of
response of the series APF. Consequently, the voltage control the resonant controller is described as follows:
scheme for the series APF consists of a PI controller and a
resonant controller, and the combined transfer function is given K rhwc s
G3R = å 2 2
(4)
as follows: h = 6,12,18 s + 2wc s + ( hws ) .
K K r 6wc s
GPI - R = K p + i + 2 (3)
where h=6, 12, 18 are the orders of the harmonic currents in
s s + 2wc s + (6ws ) 2
. the d-q frame.
where K p and Ki are the proportional and integral gain of In addition, a PI controller is also needed to regulate the
fundamental current to charge the DC-link capacitor. As a
the PI controller, respectively.
result, the current controller of the shunt APF consists of a PI
A block diagram of the proposed voltage controller for the
series APF is illustrated in Fig. 3. controller and three resonant controllers, as shown in Fig. 4.

B. Proposed PI-3R Current Controller

C. Improved Phase-Locked Loop Scheme
The purpose of a shunt APF is to mitigate the harmonic
currents produced by nonlinear loads. The nonlinear load The purpose of the PLL is to detect the phase angle of the
under consideration is a three-phase diode rectifier supplying supply voltage for grid synchronization, which is an essential
a dc load. This type of load induces harmonic currents into part of power converters for interfacing with the grid. In
the networks, which have odd orders (6n±1, where n = 1, 2, addition, since the proposed control algorithm is designed in
3...) of wS . To make the supply current sinusoidal, a shunt APF the d-q frame, the phase angle of the supply voltage is
must inject harmonic currents with the same magnitudes and necessary for coordinate transformation. However, a
opposite phases as those in the nonlinear load current. In conventional PLL is unable to operate properly under distorted
addition, the shunt APF has a responsibility to maintain the supply voltage conditions. Hence a low-pass filter (LPF) is
added before the PLL block, as shown in Fig. 5, to reject the
common DC-link voltage of series and shunt APFs ( Vdc ) in a
effects of harmonic voltages on the PLL performance. In Fig. 5,
stable manner. As a result, the shunt APF control scheme the LPF is used in the d-q frame. Therefore, there is no time
includes an outer voltage control loop and an inner current delay problem due to the LPF which can affect the PLL
control loop, as shown in Fig. 2. accuracy and the UPQC performance because the fundamental
In the Vdc voltage control loop, a simple PI controller is component becomes a DC signal in the d-q frame.
sufficient to regulate the DC-link voltage to be constant with In practical applications, if the phase angle of the supply
a desired value because the DC-link voltage has a slow voltage is not detected correctly due to a time delay of the PLL,
dynamic response. However, in the current control loop, the system can be seriously damaged at the connecting time of
since the shunt APF must generate harmonic currents which the UPQC due to a spike or an overshoot of the supply current.
are high frequency signals, the PI controller is no longer In addition, the coordinate transformation cannot be performed
adequate to regulate the harmonic currents. As a result, a correctly. As a result, the UPQC control performance is
resonant controller is utilized instead of a PI controller. deteriorated.
164 Journal of Power Electronics, Vol. 13, No. 1, January 2013

provides zero steady-state error at the selected resonant

frequency regardless of the controller gains, the controller
gains must be designed carefully based on the plant (LC
filter) parameters to guarantee system stability. In this paper,
the Naslin polynomial technique, which is general and
applicable to many control system [16], [17], is used to
Fig. 5. Block diagram of the improved PLL scheme. determine the controller gains. According to [16], the
controller gains are computed based on the fourth-order
Bode Diagram Naslin polynomial given as:
1

0.9
wc=10 æ s s2 s3 s4 ö
N ( s ) = a0 ç1 + + + + ÷ (6)
Magnitude (abs)

0.8 Kr6=2000
ç wn aw 2 a 3w 3 a 6w 4 ÷
è n n n ø
0.7
where a is the characteristic ratio, a0 is the coefficient, and
0.6 Resonant peak
Kr6=500, wc=5 of LC filter wn is the Naslin frequency.
0.5
45 By matching the coefficients in (6) with those in the
nominator of the closed-loop transfer function in (5), the
Phase (deg)

0
controller gains are determined as follows:
-45 (6ws ) 2
Resonant Kp = - L f C f (6ws ) 2 - 1
-90
frequency (360Hz) a 3wn3
200 400 600 800 1000 1200 1400
Frequency (Hz)
æ (6w ) 2 ö
Ki = ç 3 s 3 - L f C f (6ws ) 2 ÷ wn
Fig. 6. Bode diagram of closed-loop transfer function of ç a w ÷
è n ø (7)
proposed voltage controller. 2
(6ws )
Kr6 = - R f C f (6ws ) 2
awn2
III. ANALYSIS AND DESIGN OF THE VOLTAGE AND 6ws Lf
CURRENT CONTROLLERS wn =
Rf Cf
A. Analysis and Design of the Proposed Voltage where the characteristic ratio of the Naslin polynomial is
Controller selected as a = 2 .
To assess the performance of the proposed voltage Generally, a small cut-off frequency, wc , within the range
controller in compensating the fifth and seventh harmonic of 5-15 rad/s can be selected in practical implementation [18].
voltages, the closed-loop transfer function of the proposed In this paper, a cut-off frequency, wc , of 10 rad/s is chosen
voltage controller, which is described by (5), is analyzed. to achieve good steady-state performance and an adequately
GPI - R ( s )GLC ( s ) fast dynamic response.
GC = (5)
1 + GPI - R ( s )GLC ( s )
B. Analysis and Design of the Proposed Current
where GLC = 1 / ( L f C f s 2 + R f C f s + 1) is the transfer Controller
function of the LC filter. In order to determine whether the proposed current
The Bode diagram of (5) with respect to different values controller sufficiently regulates harmonic currents, the
of K r 6 and wc is shown in Fig. 6. It can be seen that the closed-loop transfer function of the proposed current
voltage controller provides a unity gain and zero phase-shift controller in (8) is analyzed.
at the selected resonant frequency, i.e., six multiple of the GPI -3R ( s )GL ( s )
GC = (8)
fundamental frequency (360Hz) regardless of the values 1 + GPI -3R ( s )GL ( s )
of K r 6 and wc . This means that the proposed voltage
where GL = 1 / ( Lsh s + Rsh ) is the transfer function of the
controller is capable of tracking the sixth harmonics with zero
Lsh inductor.
steady-state error. As mentioned before, the fifth and seventh
harmonics become the sixth harmonic in the d-q frame. The Bode diagram of (8) with respect to different values
Hence, if the proposed controller can regulate the sixth of K rh and wc is plotted in Fig. 7. Fig. 7 shows that the
harmonic with zero steady-state error, the fifth and seventh resonant controller provides a unity gain (0 dB) and zero
harmonics will be mitigated too. phase-shift at selected resonant frequencies, i.e., 360Hz,
Although the proposed PI-R controller theoretically 720Hz, and 1080Hz, regardless of the value of K rh and wc .
 Journal of Power Electronics, Vol. 13, No. 1, January 2013 165

Bode Diagram TABLE I

30
wc=10 SYSTEM PARAMETERS
20 Krh=1000
Parameters Value
Magnitude (dB)

10
0
wc=5 Fundamental voltage VS , abc 110 Vrms
Krh=2000
-10 Frequency fS 60 Hz
-20 wc=5
Supply
Krh=1000
Fifth order voltage 15%
-30
0 Seventh order voltage 7%
-45 3-phase AC inductance Lac 2 mH
Phase (deg)

-90 1080Hz Load Diode rectifier load

RL 20 W
-135
360Hz
resistance
720Hz
-180 Reference voltage Vdc* 350 V
200 400 600 800 1000 1200 1400 DC-link
Frequency (Hz) Capacitance Cdc 2.2 mF
Fig. 7. Bode diagram of closed-loop transfer function of Shunt Filter inductance Lsh 3.5 mH
proposed current controller.
APF Switching frequency f sw 5 kHz
This shows that the proposed current controller is able to Filter inductance Lf 0.7 mH
Series
regulate the selected harmonic currents with zero steady-state Filter capacitance Cf 27 µF
APF
error. Switching frequency f sw 5 kHz
The Naslin polynomial technique is also used to design the
controller gains of the current controller. In fact, since the
current controller has three resonant controllers, a higher
order of the Naslin polynomial should be used to determine
all of the controller gains. However, this makes the design
process very complicated. To avoid this problem, only the PI
controller and one resonant controller tuned at the sixth
harmonic are taken into account, and the other resonant gains
are determined based on K r 6 . Using the fourth-order Naslin
polynomial given in (6), the controller gains are computed as
follows:
wn
K p = Lsh - Rsh
a3
wn2
Ki = Lsh Fig. 8. Simulation results with the conventional control scheme.
a3
(9)
w2 æ 1 ö First, the conventional control scheme reported in [10],
Kr6 = Lsh n ç a + 1 - 2 ÷
a è a ø where hysteresis controllers are used, is simulated. In this
6ws simulation, the HBs of the voltage and current controllers are
wn = selected as 2% and 3% of their reference values, respectively.
a3 The results are shown in Fig. 8. As depicted in Fig. 8, even
though a small HB is used, the performance of the load voltage
where the characteristic ratio of the Naslin polynomial is and the supply current are not good, since there are some
selected as a = 2 . distortions in those waveforms. These distortions are caused by
switching frequency variations of the hysteresis controller. The
IV. SIMULATION RESULTS switching frequency varies over a wide range and the output
filter is unable to cancel all of the switching noises. In this case,
The simulation model consists of a UPQC and a nonlinear
ripples in the load voltage and the supply current influence
load supplied by a distorted source where the total harmonic
each other. Ripples in the supply current make the load voltage
distortion (THD) factors of the non-linear load and the
more distorted due to the system and series transformer
distorted source are 25.2% and 16.5%, respectively. The
impedance. In turn, this distorted voltage waveform affects the
detail system parameters are given in Table I. The simulations
performance of the shunt APF. As a result, the high frequency
are performed by using PSIM software.
distortions are left with a high THD factor in the load voltage
166 Journal of Power Electronics, Vol. 13, No. 1, January 2013

Fig. 10. Dynamic response of UPQC with the proposed control

Fig. 9. Simulation results with the proposed control scheme. scheme.

and supply current, which are 3.9% and 7.4%, respectively.

These results do not comply with the IEEE-519 harmonic
standards [19]. Moreover, due to the small HB’s, the switching
frequency is very high, which results in a higher power loss in
the UPQC.
To demonstrate the superiority of the proposed control
algorithm, the proposed control scheme is also simulated
under the same conditions as those used in Fig. 8. The results
are presented in Fig. 9. Fig. 9 reveals that the harmonics in
the supply voltage and the nonlinear load current are
effectively compensated, and that the load voltage and the
supply current become almost sinusoidal waveforms with
small THD factors of approximately 1.2% and 1.95%,
respectively. This completely meets the IEEE 519 standards.
In Fig. 9, the load voltage and the supply current do not Fig. 11. Dynamic response of UPQC with the conventional
contain switching noises since the switching frequency of the control scheme.
proposed algorithm is fixed. In addition, since the switching
frequency of the proposed method is relatively lower (5 kHz) both the load voltage and supply current always become
when compared to that of the hysteresis controller (18 kHz sinusoidal. It is noticed that the supply current also needs
average), the power loss is significantly reduced. From these around one cycle to settle at the steady-state value. Actually,
comparative results, the effectiveness of the proposed control due to limitation on the control bandwidth of the DC-link
scheme is verified. voltage control loop, a one cycle response time for the supply
Along with good steady-state performance, a fast dynamic current is enough. Moreover, this result is much better than
response is also an important factor in UPQC performance the results reported in [10] and [11] where the dynamic
because the load voltage and the supply current should be response of the supply current is more than two cycles.
compensated to be sinusoidal as soon as possible during load Fig. 11 presents the dynamic responses of a UPQC with a
variations. To evaluate the dynamic performance of the hysteresis controller. As shown in Fig. 11, thanks to the fast
proposed control strategy, the transient responses of the response characteristic of the hysteresis controller, the load
UPQC are illustrated in Fig. 10. Fig. 10 shows that when the voltage is immediately compensated to be sinusoidal when
UPQC is activated at a 50% load, it takes less than one the UPQC is operated. However, the supply current takes
fundamental cycle for the UPQC to completely compensate about one cycle to settle at its steady-state, which is similar to
harmonics in the supply voltage and in the nonlinear load the results shown in Fig. 10. This is due to the fact that the
current to make the load voltage and the supply current dynamic response of the supply current depends on not only
sinusoidal. After that, when the load is changed from 50% to the hysteresis controller but also on the DC-link voltage
100%, the UPQC also responds quickly to load changes to controller. As a result, the dynamic response of the UPQC
mitigate harmonics in the load current and to guarantee that with a hysteresis controller is similar to that obtained with the
 Journal of Power Electronics, Vol. 13, No. 1, January 2013 167

TABLE II
COMPARISON OF TWO CONTROL SCHEMES
Proposed control Conventional control
scheme scheme [10]
THD 1.2% (Load voltage) 3.9% (Load voltage)
values 1.95%(Supply current) 7.4%(Supply current)
Switching Fixed Variable
frequency (5 kHz) (18 kHz average)
Dynamic Less than one More than two
response fundamental cycle fundamental cycles
Power loss 352W (13kVA load) 687W (13kVA load)

proposed control scheme. However, it is obvious that

steady-state performance is worse than that of the proposed
control scheme.
Table II shows a summary of the comparison between the
proposed control algorithm and the conventional one in [10]. Fig. 12. Experimental platform for the UPQC.
As presented in Table II, by using the proposed control
scheme, the THD values of the load voltage and the supply
current are significantly reduced when compared with those
of the conventional control method. In addition, the proposed
control scheme provides a much faster dynamic response.
Moreover, the power loss of the conventional control scheme
is intensively increased because a small HB is used to achieve
acceptable performance.

V. EXPERIMENTAL RESULTS
An overview of the experimental system is shown in Fig.
12. All of the parameters in the experimental system are the
same as those used in the simulation model given in Table I.
The control strategy is implemented using a floating-point
DSP (TMS320F28335 of Texas Instruments). The control
and switching frequencies are set at 10 kHz and 5 kHz,
respectively. The distorted supply voltage is generated by a
Programmable AC Power Source (Chroma 61704).
Fig. 13 shows the experimental results of the proposed Fig. 13. Steady-state performance of the proposed control
control strategy, where the supply voltage, the load voltage, scheme.
the FFT of the load voltage, the supply current, the FFT of
the supply current, and the load current are plotted from the
top to the bottom, respectively. In Fig. 13, even though the
supply voltage and the load current are highly distorted, both
the load voltage and the supply current are effectively
compensated to be sinusoidal thanks to the effectiveness of
the proposed control algorithm. The THD values of the load
voltage and the supply current in the experiment are 1.55%
and 2.14%, respectively. In fact, the THD values in the
experiment are slightly higher than those in the simulation
due to the measurement and switching noises that are
inevitable in experiments. However, these THD values still
satisfy the IEEE-519 standards.
The dynamic responses of the system before and after the
UPQC is activated are shown in Fig. 14. The load voltage and
Fig. 14. Dynamic response when UPQC is activated.
168 Journal of Power Electronics, Vol. 13, No. 1, January 2013

proposed controller. However, the supply voltage and the

load current can be also unbalanced, and this will be
investigated in a future study on the basis of the proposed
control principle.

ACKNOWLEDGMENT
This work was partly supported by the NRF grant funded
by the Korea government (MEST) (No. 2010-0025483) and
the Network-based Automation Research Center (NARC)
funded by the Ministry of Knowledge Economy.

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Quoc-Nam Trinh was born in Thanh-Hoa,

Vietnam, in 1985. He received his B.S. in
Electrical Engineering from the Ho Chi
Minh City University of Technology, Ho Chi
Minh City, Vietnam, in 2008. He is currently
a combined M.S./Ph.D. student at the
University of Ulsan, Ulsan, Korea. He is a
member of the Korean Institute of Power
Electronics (KIPE). His current research
interests include Z-source inverters, wind power systems, active
power filters, and power quality.

Hong-Hee Lee received his B.S., M.S.,

and Ph.D. in Electrical Engineering from
Seoul National University, Seoul, Korea, in
1980, 1982, and 1990, respectively. He is
currently a Professor in the School of
Electrical Engineering, University of Ulsan,
Ulsan, Korea. He is also the Director of the
Network-based Research Center (NARC).
His current research interests include
power electronics, network-based motor control, and control
networks. He is a member of the Institute of Electrical and
Electronics Engineers (IEEE), the Korean Institute of Power
Electronics (KIPE), the Korean Institute of Electrical Engineers
(KIEE), and the Institute of Control, Automation, and Systems
Engineers (ICASE).